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   1                            .file   "fc.c"
   2                    __SREG__ = 0x3f
   3                    __SP_H__ = 0x3e
   4                    __SP_L__ = 0x3d
   5                    __tmp_reg__ = 0
   6                    __zero_reg__ = 1
   7                            .global __do_copy_data
   8                            .global __do_clear_bss
   9                            .text
  10                    .global CopyDebugValues
  12                    CopyDebugValues:
  13                    /* prologue: frame size=0 */
  14 0000 EF92                  push r14
  15 0002 FF92                  push r15
  16 0004 0F93                  push r16
  17 0006 1F93                  push r17
  18                    /* prologue end (size=4) */
  19 0008 E090 0000             lds r14,EE_Parameter+28
  20 000c FF24                  clr r15
  21 000e EE0C                  lsl r14
  22 0010 FF1C                  rol r15
  23 0012 EE0C                  lsl r14
  24 0014 FF1C                  rol r15
  25 0016 0027                  clr r16
  26 0018 F7FC                  sbrc r15,7
  27 001a 0095                  com r16
  28 001c 102F                  mov r17,r16
  29 001e 6091 0000             lds r22,IntegralNick
  30 0022 7091 0000             lds r23,(IntegralNick)+1
  31 0026 8091 0000             lds r24,(IntegralNick)+2
  32 002a 9091 0000             lds r25,(IntegralNick)+3
  33 002e A801                  movw r20,r16
  34 0030 9701                  movw r18,r14
  35 0032 0E94 0000             call __divmodsi4
  36 0036 3093 0000             sts (DebugOut+2)+1,r19
  37 003a 2093 0000             sts DebugOut+2,r18
  38 003e 6091 0000             lds r22,IntegralRoll
  39 0042 7091 0000             lds r23,(IntegralRoll)+1
  40 0046 8091 0000             lds r24,(IntegralRoll)+2
  41 004a 9091 0000             lds r25,(IntegralRoll)+3
  42 004e A801                  movw r20,r16
  43 0050 9701                  movw r18,r14
  44 0052 0E94 0000             call __divmodsi4
  45 0056 3093 0000             sts (DebugOut+4)+1,r19
  46 005a 2093 0000             sts DebugOut+4,r18
  47 005e 8091 0000             lds r24,Mittelwert_AccNick
  48 0062 9091 0000             lds r25,(Mittelwert_AccNick)+1
  49 0066 64E0                  ldi r22,lo8(4)
  50 0068 70E0                  ldi r23,hi8(4)
  51 006a 0E94 0000             call __divmodhi4
  52 006e 7093 0000             sts (DebugOut+6)+1,r23
  53 0072 6093 0000             sts DebugOut+6,r22
  54 0076 8091 0000             lds r24,Mittelwert_AccRoll
  55 007a 9091 0000             lds r25,(Mittelwert_AccRoll)+1
  56 007e 64E0                  ldi r22,lo8(4)
  57 0080 70E0                  ldi r23,hi8(4)
  58 0082 0E94 0000             call __divmodhi4
  59 0086 7093 0000             sts (DebugOut+8)+1,r23
  60 008a 6093 0000             sts DebugOut+8,r22
  61 008e 2091 0000             lds r18,AdWertGier
  62 0092 3091 0000             lds r19,(AdWertGier)+1
  63 0096 8091 0000             lds r24,AdNeutralGier
  64 009a 9091 0000             lds r25,(AdNeutralGier)+1
  65 009e 821B                  sub r24,r18
  66 00a0 930B                  sbc r25,r19
  67 00a2 9093 0000             sts (DebugOut+10)+1,r25
  68 00a6 8093 0000             sts DebugOut+10,r24
  69 00aa 6091 0000             lds r22,HoehenWert
  70 00ae 7091 0000             lds r23,(HoehenWert)+1
  71 00b2 8091 0000             lds r24,(HoehenWert)+2
  72 00b6 9091 0000             lds r25,(HoehenWert)+3
  73 00ba 25E0                  ldi r18,lo8(5)
  74 00bc 30E0                  ldi r19,hi8(5)
  75 00be 40E0                  ldi r20,hlo8(5)
  76 00c0 50E0                  ldi r21,hhi8(5)
  77 00c2 0E94 0000             call __divmodsi4
  78 00c6 3093 0000             sts (DebugOut+12)+1,r19
  79 00ca 2093 0000             sts DebugOut+12,r18
  80 00ce 8091 0000             lds r24,AdWertAccHoch
  81 00d2 9091 0000             lds r25,(AdWertAccHoch)+1
  82 00d6 9093 0000             sts (DebugOut+14)+1,r25
  83 00da 8093 0000             sts DebugOut+14,r24
  84 00de 8091 0000             lds r24,KompassValue
  85 00e2 9091 0000             lds r25,(KompassValue)+1
  86 00e6 9093 0000             sts (DebugOut+18)+1,r25
  87 00ea 8093 0000             sts DebugOut+18,r24
  88 00ee 8091 0000             lds r24,UBat
  89 00f2 9091 0000             lds r25,(UBat)+1
  90 00f6 9093 0000             sts (DebugOut+20)+1,r25
  91 00fa 8093 0000             sts DebugOut+20,r24
  92 00fe 8091 0000             lds r24,SenderOkay
  93 0102 90E0                  ldi r25,lo8(0)
  94 0104 9093 0000             sts (DebugOut+22)+1,r25
  95 0108 8093 0000             sts DebugOut+22,r24
  96 010c 6091 0000             lds r22,ErsatzKompass
  97 0110 7091 0000             lds r23,(ErsatzKompass)+1
  98 0114 8091 0000             lds r24,(ErsatzKompass)+2
  99 0118 9091 0000             lds r25,(ErsatzKompass)+3
 100 011c 2091 0000             lds r18,GIER_GRAD_FAKTOR
 101 0120 3091 0000             lds r19,(GIER_GRAD_FAKTOR)+1
 102 0124 4091 0000             lds r20,(GIER_GRAD_FAKTOR)+2
 103 0128 5091 0000             lds r21,(GIER_GRAD_FAKTOR)+3
 104 012c 0E94 0000             call __divmodsi4
 105 0130 3093 0000             sts (DebugOut+24)+1,r19
 106 0134 2093 0000             sts DebugOut+24,r18
 107 0138 8091 0000             lds r24,Motor+1
 108 013c 90E0                  ldi r25,lo8(0)
 109 013e 9093 0000             sts (DebugOut+26)+1,r25
 110 0142 8093 0000             sts DebugOut+26,r24
 111 0146 8091 0000             lds r24,Motor+9
 112 014a 90E0                  ldi r25,lo8(0)
 113 014c 9093 0000             sts (DebugOut+28)+1,r25
 114 0150 8093 0000             sts DebugOut+28,r24
 115 0154 8091 0000             lds r24,Motor+17
 116 0158 90E0                  ldi r25,lo8(0)
 117 015a 9093 0000             sts (DebugOut+30)+1,r25
 118 015e 8093 0000             sts DebugOut+30,r24
 119 0162 8091 0000             lds r24,Motor+25
 120 0166 90E0                  ldi r25,lo8(0)
 121 0168 9093 0000             sts (DebugOut+32)+1,r25
 122 016c 8093 0000             sts DebugOut+32,r24
 123 0170 8091 0000             lds r24,ServoNickValue
 124 0174 9091 0000             lds r25,(ServoNickValue)+1
 125 0178 9093 0000             sts (DebugOut+42)+1,r25
 126 017c 8093 0000             sts DebugOut+42,r24
 127 0180 8091 0000             lds r24,Capacity
 128 0184 9091 0000             lds r25,(Capacity)+1
 129 0188 9093 0000             sts (DebugOut+46)+1,r25
 130 018c 8093 0000             sts DebugOut+46,r24
 131 0190 8091 0000             lds r24,Capacity+4
 132 0194 9091 0000             lds r25,(Capacity+4)+1
 133 0198 9093 0000             sts (DebugOut+48)+1,r25
 134 019c 8093 0000             sts DebugOut+48,r24
 135 01a0 8091 0000             lds r24,Capacity+6
 136 01a4 90E0                  ldi r25,lo8(0)
 137 01a6 9093 0000             sts (DebugOut+60)+1,r25
 138 01aa 8093 0000             sts DebugOut+60,r24
 139 01ae 8091 0000             lds r24,GPS_Nick
 140 01b2 9091 0000             lds r25,(GPS_Nick)+1
 141 01b6 9093 0000             sts (DebugOut+62)+1,r25
 142 01ba 8093 0000             sts DebugOut+62,r24
 143 01be 8091 0000             lds r24,GPS_Roll
 144 01c2 9091 0000             lds r25,(GPS_Roll)+1
 145 01c6 9093 0000             sts (DebugOut+64)+1,r25
 146 01ca 8093 0000             sts DebugOut+64,r24
 147 01ce 8091 0000             lds r24,VersionInfo+5
 148 01d2 8823                  tst r24
 149 01d4 01F4                  brne .L2
 150 01d6 8091 0000             lds r24,VersionInfo+6
 151 01da 8823                  tst r24
 152 01dc 01F0                  breq .L4
 153                    .L2:
 154 01de 8091 0000             lds r24,DebugOut+1
 155 01e2 8160                  ori r24,lo8(1)
 156 01e4 00C0                  rjmp .L7
 157                    .L4:
 158 01e6 8091 0000             lds r24,DebugOut+1
 159 01ea 8E7F                  andi r24,lo8(-2)
 160                    .L7:
 161 01ec 8093 0000             sts DebugOut+1,r24
 162                    /* epilogue: frame size=0 */
 163 01f0 1F91                  pop r17
 164 01f2 0F91                  pop r16
 165 01f4 FF90                  pop r15
 166 01f6 EF90                  pop r14
 167 01f8 0895                  ret
 168                    /* epilogue end (size=5) */
 169                    /* function CopyDebugValues size 253 (244) */
 171                    .global Mittelwert
 173                    Mittelwert:
 174                    /* prologue: frame size=27 */
 175 01fa ABE1                  ldi r26,lo8(27)
 176 01fc B0E0                  ldi r27,hi8(27)
 177 01fe E0E0                  ldi r30,pm_lo8(1f)
 178 0200 F0E0                  ldi r31,pm_hi8(1f)
 179 0202 0C94 0000             jmp __prologue_saves__+0
 180                    1:
 181                    /* prologue end (size=6) */
 182 0206 8091 0000             lds r24,AdWertGier
 183 020a 9091 0000             lds r25,(AdWertGier)+1
 184 020e 2091 0000             lds r18,AdNeutralGier
 185 0212 3091 0000             lds r19,(AdNeutralGier)+1
 186 0216 281B                  sub r18,r24
 187 0218 390B                  sbc r19,r25
 188 021a 3B8F                  std Y+27,r19
 189 021c 2A8F                  std Y+26,r18
 190 021e 3093 0000             sts (MesswertGier)+1,r19
 191 0222 2093 0000             sts MesswertGier,r18
 192 0226 8091 0000             lds r24,AdWertNickFilter
 193 022a 9091 0000             lds r25,(AdWertNickFilter)+1
 194 022e 68E0                  ldi r22,lo8(8)
 195 0230 70E0                  ldi r23,hi8(8)
 196 0232 0E94 0000             call __divmodhi4
 197 0236 798F                  std Y+25,r23
 198 0238 688F                  std Y+24,r22
 199 023a 8091 0000             lds r24,AdWertRollFilter
 200 023e 9091 0000             lds r25,(AdWertRollFilter)+1
 201 0242 68E0                  ldi r22,lo8(8)
 202 0244 70E0                  ldi r23,hi8(8)
 203 0246 0E94 0000             call __divmodhi4
 204 024a 7F8B                  std Y+23,r23
 205 024c 6E8B                  std Y+22,r22
 206 024e 488D                  ldd r20,Y+24
 207 0250 598D                  ldd r21,Y+25
 208 0252 5093 0000             sts (RohMesswertNick)+1,r21
 209 0256 4093 0000             sts RohMesswertNick,r20
 210 025a 7093 0000             sts (RohMesswertRoll)+1,r23
 211 025e 6093 0000             sts RohMesswertRoll,r22
 212 0262 2091 0000             lds r18,AdWertAccNick
 213 0266 3091 0000             lds r19,(AdWertAccNick)+1
 214 026a C901                  movw r24,r18
 215 026c 880F                  lsl r24
 216 026e 991F                  rol r25
 217 0270 820F                  add r24,r18
 218 0272 931F                  adc r25,r19
 219 0274 880F                  lsl r24
 220 0276 991F                  rol r25
 221 0278 4091 0000             lds r20,Mittelwert_AccNick
 222 027c 5091 0000             lds r21,(Mittelwert_AccNick)+1
 223 0280 9A01                  movw r18,r20
 224 0282 220F                  lsl r18
 225 0284 331F                  rol r19
 226 0286 240F                  add r18,r20
 227 0288 351F                  adc r19,r21
 228 028a 820F                  add r24,r18
 229 028c 931F                  adc r25,r19
 230 028e 64E0                  ldi r22,lo8(4)
 231 0290 70E0                  ldi r23,hi8(4)
 232 0292 0E94 0000             call __divmodhi4
 233 0296 7093 0000             sts (Mittelwert_AccNick)+1,r23
 234 029a 6093 0000             sts Mittelwert_AccNick,r22
 235 029e 2091 0000             lds r18,AdWertAccRoll
 236 02a2 3091 0000             lds r19,(AdWertAccRoll)+1
 237 02a6 C901                  movw r24,r18
 238 02a8 880F                  lsl r24
 239 02aa 991F                  rol r25
 240 02ac 820F                  add r24,r18
 241 02ae 931F                  adc r25,r19
 242 02b0 880F                  lsl r24
 243 02b2 991F                  rol r25
 244 02b4 4091 0000             lds r20,Mittelwert_AccRoll
 245 02b8 5091 0000             lds r21,(Mittelwert_AccRoll)+1
 246 02bc 9A01                  movw r18,r20
 247 02be 220F                  lsl r18
 248 02c0 331F                  rol r19
 249 02c2 240F                  add r18,r20
 250 02c4 351F                  adc r19,r21
 251 02c6 820F                  add r24,r18
 252 02c8 931F                  adc r25,r19
 253 02ca 64E0                  ldi r22,lo8(4)
 254 02cc 70E0                  ldi r23,hi8(4)
 255 02ce 0E94 0000             call __divmodhi4
 256 02d2 7093 0000             sts (Mittelwert_AccRoll)+1,r23
 257 02d6 6093 0000             sts Mittelwert_AccRoll,r22
 258 02da 2091 0000             lds r18,AdWertAccNick
 259 02de 3091 0000             lds r19,(AdWertAccNick)+1
 260 02e2 C901                  movw r24,r18
 261 02e4 880F                  lsl r24
 262 02e6 991F                  rol r25
 263 02e8 820F                  add r24,r18
 264 02ea 931F                  adc r25,r19
 265 02ec 880F                  lsl r24
 266 02ee 991F                  rol r25
 267 02f0 AA27                  clr r26
 268 02f2 97FD                  sbrc r25,7
 269 02f4 A095                  com r26
 270 02f6 BA2F                  mov r27,r26
 271 02f8 2091 0000             lds r18,IntegralAccNick
 272 02fc 3091 0000             lds r19,(IntegralAccNick)+1
 273 0300 4091 0000             lds r20,(IntegralAccNick)+2
 274 0304 5091 0000             lds r21,(IntegralAccNick)+3
 275 0308 280F                  add r18,r24
 276 030a 391F                  adc r19,r25
 277 030c 4A1F                  adc r20,r26
 278 030e 5B1F                  adc r21,r27
 279 0310 2093 0000             sts IntegralAccNick,r18
 280 0314 3093 0000             sts (IntegralAccNick)+1,r19
 281 0318 4093 0000             sts (IntegralAccNick)+2,r20
 282 031c 5093 0000             sts (IntegralAccNick)+3,r21
 283 0320 2091 0000             lds r18,AdWertAccRoll
 284 0324 3091 0000             lds r19,(AdWertAccRoll)+1
 285 0328 C901                  movw r24,r18
 286 032a 880F                  lsl r24
 287 032c 991F                  rol r25
 288 032e 820F                  add r24,r18
 289 0330 931F                  adc r25,r19
 290 0332 880F                  lsl r24
 291 0334 991F                  rol r25
 292 0336 AA27                  clr r26
 293 0338 97FD                  sbrc r25,7
 294 033a A095                  com r26
 295 033c BA2F                  mov r27,r26
 296 033e 2091 0000             lds r18,IntegralAccRoll
 297 0342 3091 0000             lds r19,(IntegralAccRoll)+1
 298 0346 4091 0000             lds r20,(IntegralAccRoll)+2
 299 034a 5091 0000             lds r21,(IntegralAccRoll)+3
 300 034e 280F                  add r18,r24
 301 0350 391F                  adc r19,r25
 302 0352 4A1F                  adc r20,r26
 303 0354 5B1F                  adc r21,r27
 304 0356 2093 0000             sts IntegralAccRoll,r18
 305 035a 3093 0000             sts (IntegralAccRoll)+1,r19
 306 035e 4093 0000             sts (IntegralAccRoll)+2,r20
 307 0362 5093 0000             sts (IntegralAccRoll)+3,r21
 308 0366 2091 0000             lds r18,AdWertAccNick
 309 036a 3091 0000             lds r19,(AdWertAccNick)+1
 310 036e 8091 0000             lds r24,NaviAccNick
 311 0372 9091 0000             lds r25,(NaviAccNick)+1
 312 0376 820F                  add r24,r18
 313 0378 931F                  adc r25,r19
 314 037a 9093 0000             sts (NaviAccNick)+1,r25
 315 037e 8093 0000             sts NaviAccNick,r24
 316 0382 2091 0000             lds r18,AdWertAccRoll
 317 0386 3091 0000             lds r19,(AdWertAccRoll)+1
 318 038a 8091 0000             lds r24,NaviAccRoll
 319 038e 9091 0000             lds r25,(NaviAccRoll)+1
 320 0392 820F                  add r24,r18
 321 0394 931F                  adc r25,r19
 322 0396 9093 0000             sts (NaviAccRoll)+1,r25
 323 039a 8093 0000             sts NaviAccRoll,r24
 324 039e 8091 0000             lds r24,NaviCntAcc
 325 03a2 9091 0000             lds r25,(NaviCntAcc)+1
 326 03a6 0196                  adiw r24,1
 327 03a8 9093 0000             sts (NaviCntAcc)+1,r25
 328 03ac 8093 0000             sts NaviCntAcc,r24
 329 03b0 2091 0000             lds r18,Aktuell_az
 330 03b4 3091 0000             lds r19,(Aktuell_az)+1
 331 03b8 8091 0000             lds r24,NeutralAccZ
 332 03bc 9091 0000             lds r25,(NeutralAccZ)+1
 333 03c0 281B                  sub r18,r24
 334 03c2 390B                  sbc r19,r25
 335 03c4 4427                  clr r20
 336 03c6 37FD                  sbrc r19,7
 337 03c8 4095                  com r20
 338 03ca 542F                  mov r21,r20
 339 03cc 8091 0000             lds r24,IntegralAccZ
 340 03d0 9091 0000             lds r25,(IntegralAccZ)+1
 341 03d4 A091 0000             lds r26,(IntegralAccZ)+2
 342 03d8 B091 0000             lds r27,(IntegralAccZ)+3
 343 03dc 820F                  add r24,r18
 344 03de 931F                  adc r25,r19
 345 03e0 A41F                  adc r26,r20
 346 03e2 B51F                  adc r27,r21
 347 03e4 8093 0000             sts IntegralAccZ,r24
 348 03e8 9093 0000             sts (IntegralAccZ)+1,r25
 349 03ec A093 0000             sts (IntegralAccZ)+2,r26
 350 03f0 B093 0000             sts (IntegralAccZ)+3,r27
 351 03f4 8FEC                  ldi r24,lo8(-49)
 352 03f6 8093 7A00             sts 122,r24
 353 03fa 1092 0000             sts AdReady,__zero_reg__
 354 03fe 2091 0000             lds r18,Mess_IntegralRoll
 355 0402 3091 0000             lds r19,(Mess_IntegralRoll)+1
 356 0406 4091 0000             lds r20,(Mess_IntegralRoll)+2
 357 040a 5091 0000             lds r21,(Mess_IntegralRoll)+3
 358 040e 2A8B                  std Y+18,r18
 359 0410 3B8B                  std Y+19,r19
 360 0412 4C8B                  std Y+20,r20
 361 0414 5D8B                  std Y+21,r21
 362 0416 8091 0000             lds r24,Mess_IntegralNick
 363 041a 9091 0000             lds r25,(Mess_IntegralNick)+1
 364 041e A091 0000             lds r26,(Mess_IntegralNick)+2
 365 0422 B091 0000             lds r27,(Mess_IntegralNick)+3
 366 0426 8E87                  std Y+14,r24
 367 0428 9F87                  std Y+15,r25
 368 042a A88B                  std Y+16,r26
 369 042c B98B                  std Y+17,r27
 370 042e 2A8D                  ldd r18,Y+26
 371 0430 3B8D                  ldd r19,Y+27
 372 0432 4427                  clr r20
 373 0434 37FD                  sbrc r19,7
 374 0436 4095                  com r20
 375 0438 542F                  mov r21,r20
 376 043a 2A87                  std Y+10,r18
 377 043c 3B87                  std Y+11,r19
 378 043e 4C87                  std Y+12,r20
 379 0440 5D87                  std Y+13,r21
 380 0442 2090 0000             lds r2,Mess_Integral_Gier
 381 0446 3090 0000             lds r3,(Mess_Integral_Gier)+1
 382 044a 4090 0000             lds r4,(Mess_Integral_Gier)+2
 383 044e 5090 0000             lds r5,(Mess_Integral_Gier)+3
 384 0452 220E                  add r2,r18
 385 0454 331E                  adc r3,r19
 386 0456 441E                  adc r4,r20
 387 0458 551E                  adc r5,r21
 388 045a 2092 0000             sts Mess_Integral_Gier,r2
 389 045e 3092 0000             sts (Mess_Integral_Gier)+1,r3
 390 0462 4092 0000             sts (Mess_Integral_Gier)+2,r4
 391 0466 5092 0000             sts (Mess_Integral_Gier)+3,r5
 392 046a 6090 0000             lds r6,ErsatzKompass
 393 046e 7090 0000             lds r7,(ErsatzKompass)+1
 394 0472 8090 0000             lds r8,(ErsatzKompass)+2
 395 0476 9090 0000             lds r9,(ErsatzKompass)+3
 396 047a 620E                  add r6,r18
 397 047c 731E                  adc r7,r19
 398 047e 841E                  adc r8,r20
 399 0480 951E                  adc r9,r21
 400 0482 6092 0000             sts ErsatzKompass,r6
 401 0486 7092 0000             sts (ErsatzKompass)+1,r7
 402 048a 8092 0000             sts (ErsatzKompass)+2,r8
 403 048e 9092 0000             sts (ErsatzKompass)+3,r9
 404 0492 3091 0000             lds r19,Looping_Nick
 405 0496 3987                  std Y+9,r19
 406 0498 3323                  tst r19
 407 049a 01F0                  breq .+2
 408 049c 00C0                  rjmp .L9
 409 049e 8091 0000             lds r24,Looping_Roll
 410 04a2 8823                  tst r24
 411 04a4 01F0                  breq .+2
 412 04a6 00C0                  rjmp .L9
 413 04a8 8091 0000             lds r24,EE_Parameter+13
 414 04ac 86FF                  sbrs r24,6
 415 04ae 00C0                  rjmp .L9
 416 04b0 2A89                  ldd r18,Y+18
 417 04b2 3B89                  ldd r19,Y+19
 418 04b4 4C89                  ldd r20,Y+20
 419 04b6 5D89                  ldd r21,Y+21
 420 04b8 283B                  cpi r18,lo8(-93000)
 421 04ba 64E9                  ldi r22,hi8(-93000)
 422 04bc 3607                  cpc r19,r22
 423 04be 6EEF                  ldi r22,hlo8(-93000)
 424 04c0 4607                  cpc r20,r22
 425 04c2 6FEF                  ldi r22,hhi8(-93000)
 426 04c4 5607                  cpc r21,r22
 427 04c6 04F4                  brge .L13
 428 04c8 28EB                  ldi r18,lo8(-93000)
 429 04ca 34E9                  ldi r19,hi8(-93000)
 430 04cc 4EEF                  ldi r20,hlo8(-93000)
 431 04ce 5FEF                  ldi r21,hhi8(-93000)
 432                    .L13:
 433 04d0 2983                  std Y+1,r18
 434 04d2 3A83                  std Y+2,r19
 435 04d4 4B83                  std Y+3,r20
 436 04d6 5C83                  std Y+4,r21
 437 04d8 2954                  subi r18,lo8(93001)
 438 04da 3B46                  sbci r19,hi8(93001)
 439 04dc 4140                  sbci r20,hlo8(93001)
 440 04de 5040                  sbci r21,hhi8(93001)
 441 04e0 04F0                  brlt .L14
 442 04e2 28E4                  ldi r18,lo8(93000)
 443 04e4 3BE6                  ldi r19,hi8(93000)
 444 04e6 41E0                  ldi r20,hlo8(93000)
 445 04e8 50E0                  ldi r21,hhi8(93000)
 446 04ea 2983                  std Y+1,r18
 447 04ec 3A83                  std Y+2,r19
 448 04ee 4B83                  std Y+3,r20
 449 04f0 5C83                  std Y+4,r21
 450                    .L14:
 451 04f2 2E85                  ldd r18,Y+14
 452 04f4 3F85                  ldd r19,Y+15
 453 04f6 4889                  ldd r20,Y+16
 454 04f8 5989                  ldd r21,Y+17
 455 04fa 283B                  cpi r18,lo8(-93000)
 456 04fc 64E9                  ldi r22,hi8(-93000)
 457 04fe 3607                  cpc r19,r22
 458 0500 6EEF                  ldi r22,hlo8(-93000)
 459 0502 4607                  cpc r20,r22
 460 0504 6FEF                  ldi r22,hhi8(-93000)
 461 0506 5607                  cpc r21,r22
 462 0508 04F4                  brge .L15
 463 050a 28EB                  ldi r18,lo8(-93000)
 464 050c 34E9                  ldi r19,hi8(-93000)
 465 050e 4EEF                  ldi r20,hlo8(-93000)
 466 0510 5FEF                  ldi r21,hhi8(-93000)
 467                    .L15:
 468 0512 2D83                  std Y+5,r18
 469 0514 3E83                  std Y+6,r19
 470 0516 4F83                  std Y+7,r20
 471 0518 5887                  std Y+8,r21
 472 051a 2954                  subi r18,lo8(93001)
 473 051c 3B46                  sbci r19,hi8(93001)
 474 051e 4140                  sbci r20,hlo8(93001)
 475 0520 5040                  sbci r21,hhi8(93001)
 476 0522 04F0                  brlt .L16
 477 0524 28E4                  ldi r18,lo8(93000)
 478 0526 3BE6                  ldi r19,hi8(93000)
 479 0528 41E0                  ldi r20,hlo8(93000)
 480 052a 50E0                  ldi r21,hhi8(93000)
 481 052c 2D83                  std Y+5,r18
 482 052e 3E83                  std Y+6,r19
 483 0530 4F83                  std Y+7,r20
 484 0532 5887                  std Y+8,r21
 485                    .L16:
 486 0534 A090 0000             lds r10,Parameter_AchsKopplung2
 487 0538 BB24                  clr r11
 488 053a CC24                  clr r12
 489 053c DD24                  clr r13
 490 053e 8E89                  ldd r24,Y+22
 491 0540 9F89                  ldd r25,Y+23
 492 0542 9C01                  movw r18,r24
 493 0544 4427                  clr r20
 494 0546 37FD                  sbrc r19,7
 495 0548 4095                  com r20
 496 054a 542F                  mov r21,r20
 497 054c 6D81                  ldd r22,Y+5
 498 054e 7E81                  ldd r23,Y+6
 499 0550 8F81                  ldd r24,Y+7
 500 0552 9885                  ldd r25,Y+8
 501 0554 0E94 0000             call __mulsi3
 502 0558 20E0                  ldi r18,lo8(2048)
 503 055a 38E0                  ldi r19,hi8(2048)
 504 055c 40E0                  ldi r20,hlo8(2048)
 505 055e 50E0                  ldi r21,hhi8(2048)
 506 0560 0E94 0000             call __divmodsi4
 507 0564 CA01                  movw r24,r20
 508 0566 B901                  movw r22,r18
 509 0568 A601                  movw r20,r12
 510 056a 9501                  movw r18,r10
 511 056c 0E94 0000             call __mulsi3
 512 0570 20E0                  ldi r18,lo8(4096)
 513 0572 30E1                  ldi r19,hi8(4096)
 514 0574 40E0                  ldi r20,hlo8(4096)
 515 0576 50E0                  ldi r21,hhi8(4096)
 516 0578 0E94 0000             call __divmodsi4
 517 057c 7901                  movw r14,r18
 518 057e 8A01                  movw r16,r20
 519 0580 2093 0000             sts tmpl3.2870,r18
 520 0584 3093 0000             sts (tmpl3.2870)+1,r19
 521 0588 4093 0000             sts (tmpl3.2870)+2,r20
 522 058c 5093 0000             sts (tmpl3.2870)+3,r21
 523 0590 A88D                  ldd r26,Y+24
 524 0592 B98D                  ldd r27,Y+25
 525 0594 9D01                  movw r18,r26
 526 0596 4427                  clr r20
 527 0598 37FD                  sbrc r19,7
 528 059a 4095                  com r20
 529 059c 542F                  mov r21,r20
 530 059e 6981                  ldd r22,Y+1
 531 05a0 7A81                  ldd r23,Y+2
 532 05a2 8B81                  ldd r24,Y+3
 533 05a4 9C81                  ldd r25,Y+4
 534 05a6 0E94 0000             call __mulsi3
 535 05aa 20E0                  ldi r18,lo8(2048)
 536 05ac 38E0                  ldi r19,hi8(2048)
 537 05ae 40E0                  ldi r20,hlo8(2048)
 538 05b0 50E0                  ldi r21,hhi8(2048)
 539 05b2 0E94 0000             call __divmodsi4
 540 05b6 CA01                  movw r24,r20
 541 05b8 B901                  movw r22,r18
 542 05ba A601                  movw r20,r12
 543 05bc 9501                  movw r18,r10
 544 05be 0E94 0000             call __mulsi3
 545 05c2 20E0                  ldi r18,lo8(4096)
 546 05c4 30E1                  ldi r19,hi8(4096)
 547 05c6 40E0                  ldi r20,hlo8(4096)
 548 05c8 50E0                  ldi r21,hhi8(4096)
 549 05ca 0E94 0000             call __divmodsi4
 550 05ce F092 0000             sts (KopplungsteilNickRoll)+1,r15
 551 05d2 E092 0000             sts KopplungsteilNickRoll,r14
 552 05d6 3093 0000             sts (KopplungsteilRollNick)+1,r19
 553 05da 2093 0000             sts KopplungsteilRollNick,r18
 554 05de 2E19                  sub r18,r14
 555 05e0 3F09                  sbc r19,r15
 556 05e2 400B                  sbc r20,r16
 557 05e4 510B                  sbc r21,r17
 558 05e6 7901                  movw r14,r18
 559 05e8 8A01                  movw r16,r20
 560 05ea 2093 0000             sts tmpl4.2871,r18
 561 05ee 3093 0000             sts (tmpl4.2871)+1,r19
 562 05f2 4093 0000             sts (tmpl4.2871)+2,r20
 563 05f6 5093 0000             sts (tmpl4.2871)+3,r21
 564 05fa 620E                  add r6,r18
 565 05fc 731E                  adc r7,r19
 566 05fe 841E                  adc r8,r20
 567 0600 951E                  adc r9,r21
 568 0602 6092 0000             sts ErsatzKompass,r6
 569 0606 7092 0000             sts (ErsatzKompass)+1,r7
 570 060a 8092 0000             sts (ErsatzKompass)+2,r8
 571 060e 9092 0000             sts (ErsatzKompass)+3,r9
 572 0612 8091 0000             lds r24,Parameter_CouplingYawCorrection
 573 0616 8823                  tst r24
 574 0618 01F4                  brne .L17
 575 061a CA01                  movw r24,r20
 576 061c B901                  movw r22,r18
 577 061e 22E0                  ldi r18,lo8(2)
 578 0620 30E0                  ldi r19,hi8(2)
 579 0622 40E0                  ldi r20,hlo8(2)
 580 0624 50E0                  ldi r21,hhi8(2)
 581 0626 0E94 0000             call __divmodsi4
 582 062a 221A                  sub r2,r18
 583 062c 330A                  sbc r3,r19
 584 062e 440A                  sbc r4,r20
 585 0630 550A                  sbc r5,r21
 586 0632 2092 0000             sts Mess_Integral_Gier,r2
 587 0636 3092 0000             sts (Mess_Integral_Gier)+1,r3
 588 063a 4092 0000             sts (Mess_Integral_Gier)+2,r4
 589 063e 5092 0000             sts (Mess_Integral_Gier)+3,r5
 590                    .L17:
 591 0642 AA84                  ldd r10,Y+10
 592 0644 BB84                  ldd r11,Y+11
 593 0646 CC84                  ldd r12,Y+12
 594 0648 DD84                  ldd r13,Y+13
 595 064a AE0C                  add r10,r14
 596 064c BF1C                  adc r11,r15
 597 064e C01E                  adc r12,r16
 598 0650 D11E                  adc r13,r17
 599 0652 E090 0000             lds r14,Parameter_AchsKopplung1
 600 0656 FF24                  clr r15
 601 0658 00E0                  ldi r16,lo8(0)
 602 065a 10E0                  ldi r17,hi8(0)
 603 065c C601                  movw r24,r12
 604 065e B501                  movw r22,r10
 605 0660 2D81                  ldd r18,Y+5
 606 0662 3E81                  ldd r19,Y+6
 607 0664 4F81                  ldd r20,Y+7
 608 0666 5885                  ldd r21,Y+8
 609 0668 0E94 0000             call __mulsi3
 610 066c 20E0                  ldi r18,lo8(2048)
 611 066e 38E0                  ldi r19,hi8(2048)
 612 0670 40E0                  ldi r20,hlo8(2048)
 613 0672 50E0                  ldi r21,hhi8(2048)
 614 0674 0E94 0000             call __divmodsi4
 615 0678 CA01                  movw r24,r20
 616 067a B901                  movw r22,r18
 617 067c A801                  movw r20,r16
 618 067e 9701                  movw r18,r14
 619 0680 0E94 0000             call __mulsi3
 620 0684 20E0                  ldi r18,lo8(4096)
 621 0686 30E1                  ldi r19,hi8(4096)
 622 0688 40E0                  ldi r20,hlo8(4096)
 623 068a 50E0                  ldi r21,hhi8(4096)
 624 068c 0E94 0000             call __divmodsi4
 625 0690 3901                  movw r6,r18
 626 0692 4A01                  movw r8,r20
 627 0694 2093 0000             sts tmpl.2868,r18
 628 0698 3093 0000             sts (tmpl.2868)+1,r19
 629 069c 4093 0000             sts (tmpl.2868)+2,r20
 630 06a0 5093 0000             sts (tmpl.2868)+3,r21
 631 06a4 C601                  movw r24,r12
 632 06a6 B501                  movw r22,r10
 633 06a8 2981                  ldd r18,Y+1
 634 06aa 3A81                  ldd r19,Y+2
 635 06ac 4B81                  ldd r20,Y+3
 636 06ae 5C81                  ldd r21,Y+4
 637 06b0 0E94 0000             call __mulsi3
 638 06b4 20E0                  ldi r18,lo8(2048)
 639 06b6 38E0                  ldi r19,hi8(2048)
 640 06b8 40E0                  ldi r20,hlo8(2048)
 641 06ba 50E0                  ldi r21,hhi8(2048)
 642 06bc 0E94 0000             call __divmodsi4
 643 06c0 CA01                  movw r24,r20
 644 06c2 B901                  movw r22,r18
 645 06c4 A801                  movw r20,r16
 646 06c6 9701                  movw r18,r14
 647 06c8 0E94 0000             call __mulsi3
 648 06cc 20E0                  ldi r18,lo8(4096)
 649 06ce 30E1                  ldi r19,hi8(4096)
 650 06d0 40E0                  ldi r20,hlo8(4096)
 651 06d2 50E0                  ldi r21,hhi8(4096)
 652 06d4 0E94 0000             call __divmodsi4
 653 06d8 7901                  movw r14,r18
 654 06da 8A01                  movw r16,r20
 655 06dc 2093 0000             sts tmpl2.2869,r18
 656 06e0 3093 0000             sts (tmpl2.2869)+1,r19
 657 06e4 4093 0000             sts (tmpl2.2869)+2,r20
 658 06e8 5093 0000             sts (tmpl2.2869)+3,r21
 659 06ec 8A8D                  ldd r24,Y+26
 660 06ee 9B8D                  ldd r25,Y+27
 661 06f0 97FF                  sbrs r25,7
 662 06f2 00C0                  rjmp .L20
 663 06f4 9095                  com r25
 664 06f6 8195                  neg r24
 665 06f8 9F4F                  sbci r25,lo8(-1)
 666                    .L20:
 667 06fa 8134                  cpi r24,65
 668 06fc 9105                  cpc r25,__zero_reg__
 669 06fe 04F0                  brlt .L19
 670 0700 A401                  movw r20,r8
 671 0702 9301                  movw r18,r6
 672 0704 97FE                  sbrs r9,7
 673 0706 00C0                  rjmp .L23
 674 0708 5095                  com r21
 675 070a 4095                  com r20
 676 070c 3095                  com r19
 677 070e 2195                  neg r18
 678 0710 3F4F                  sbci r19,lo8(-1)
 679 0712 4F4F                  sbci r20,lo8(-1)
 680 0714 5F4F                  sbci r21,lo8(-1)
 681                    .L23:
 682 0716 2138                  cpi r18,lo8(129)
 683 0718 3105                  cpc r19,__zero_reg__
 684 071a 4105                  cpc r20,__zero_reg__
 685 071c 5105                  cpc r21,__zero_reg__
 686 071e 04F4                  brge .L22
 687 0720 A801                  movw r20,r16
 688 0722 9701                  movw r18,r14
 689 0724 17FF                  sbrs r17,7
 690 0726 00C0                  rjmp .L25
 691 0728 5095                  com r21
 692 072a 4095                  com r20
 693 072c 3095                  com r19
 694 072e 2195                  neg r18
 695 0730 3F4F                  sbci r19,lo8(-1)
 696 0732 4F4F                  sbci r20,lo8(-1)
 697 0734 5F4F                  sbci r21,lo8(-1)
 698                    .L25:
 699 0736 2138                  cpi r18,lo8(129)
 700 0738 3105                  cpc r19,__zero_reg__
 701 073a 4105                  cpc r20,__zero_reg__
 702 073c 5105                  cpc r21,__zero_reg__
 703 073e 04F0                  brlt .L19
 704                    .L22:
 705 0740 81E0                  ldi r24,lo8(1)
 706 0742 8093 0000             sts TrichterFlug,r24
 707 0746 00C0                  rjmp .L19
 708                    .L9:
 709 0748 1092 0000             sts (KopplungsteilRollNick)+1,__zero_reg__
 710 074c 1092 0000             sts KopplungsteilRollNick,__zero_reg__
 711 0750 1092 0000             sts (KopplungsteilNickRoll)+1,__zero_reg__
 712 0754 1092 0000             sts KopplungsteilNickRoll,__zero_reg__
 713 0758 1092 0000             sts tmpl2.2869,__zero_reg__
 714 075c 1092 0000             sts (tmpl2.2869)+1,__zero_reg__
 715 0760 1092 0000             sts (tmpl2.2869)+2,__zero_reg__
 716 0764 1092 0000             sts (tmpl2.2869)+3,__zero_reg__
 717 0768 1092 0000             sts tmpl.2868,__zero_reg__
 718 076c 1092 0000             sts (tmpl.2868)+1,__zero_reg__
 719 0770 1092 0000             sts (tmpl.2868)+2,__zero_reg__
 720 0774 1092 0000             sts (tmpl.2868)+3,__zero_reg__
 721                    .L19:
 722 0778 E090 0000             lds r14,tmpl.2868
 723 077c F090 0000             lds r15,(tmpl.2868)+1
 724 0780 0091 0000             lds r16,(tmpl.2868)+2
 725 0784 1091 0000             lds r17,(tmpl.2868)+3
 726 0788 A090 0000             lds r10,tmpl2.2869
 727 078c B090 0000             lds r11,(tmpl2.2869)+1
 728 0790 C090 0000             lds r12,(tmpl2.2869)+2
 729 0794 D090 0000             lds r13,(tmpl2.2869)+3
 730 0798 C601                  movw r24,r12
 731 079a B501                  movw r22,r10
 732 079c 24E6                  ldi r18,lo8(100)
 733 079e 30E0                  ldi r19,hi8(100)
 734 07a0 40E0                  ldi r20,hlo8(100)
 735 07a2 50E0                  ldi r21,hhi8(100)
 736 07a4 0E94 0000             call __divmodsi4
 737 07a8 4701                  movw r8,r14
 738 07aa 821A                  sub r8,r18
 739 07ac 930A                  sbc r9,r19
 740 07ae 9092 0000             sts (TrimRoll)+1,r9
 741 07b2 8092 0000             sts TrimRoll,r8
 742 07b6 C801                  movw r24,r16
 743 07b8 B701                  movw r22,r14
 744 07ba 24E6                  ldi r18,lo8(100)
 745 07bc 30E0                  ldi r19,hi8(100)
 746 07be 40E0                  ldi r20,hlo8(100)
 747 07c0 50E0                  ldi r21,hhi8(100)
 748 07c2 0E94 0000             call __divmodsi4
 749 07c6 3901                  movw r6,r18
 750 07c8 6A18                  sub r6,r10
 751 07ca 7B08                  sbc r7,r11
 752 07cc 7092 0000             sts (TrimNick)+1,r7
 753 07d0 6092 0000             sts TrimNick,r6
 754 07d4 E090 0000             lds r14,ErsatzKompass
 755 07d8 F090 0000             lds r15,(ErsatzKompass)+1
 756 07dc 0091 0000             lds r16,(ErsatzKompass)+2
 757 07e0 1091 0000             lds r17,(ErsatzKompass)+3
 758 07e4 6091 0000             lds r22,GIER_GRAD_FAKTOR
 759 07e8 7091 0000             lds r23,(GIER_GRAD_FAKTOR)+1
 760 07ec 8091 0000             lds r24,(GIER_GRAD_FAKTOR)+2
 761 07f0 9091 0000             lds r25,(GIER_GRAD_FAKTOR)+3
 762 07f4 28E6                  ldi r18,lo8(360)
 763 07f6 31E0                  ldi r19,hi8(360)
 764 07f8 40E0                  ldi r20,hlo8(360)
 765 07fa 50E0                  ldi r21,hhi8(360)
 766 07fc 0E94 0000             call __mulsi3
 767 0800 E616                  cp r14,r22
 768 0802 F706                  cpc r15,r23
 769 0804 0807                  cpc r16,r24
 770 0806 1907                  cpc r17,r25
 771 0808 04F0                  brlt .L26
 772 080a E61A                  sub r14,r22
 773 080c F70A                  sbc r15,r23
 774 080e 080B                  sbc r16,r24
 775 0810 190B                  sbc r17,r25
 776 0812 E092 0000             sts ErsatzKompass,r14
 777 0816 F092 0000             sts (ErsatzKompass)+1,r15
 778 081a 0093 0000             sts (ErsatzKompass)+2,r16
 779 081e 1093 0000             sts (ErsatzKompass)+3,r17
 780                    .L26:
 781 0822 2091 0000             lds r18,ErsatzKompass
 782 0826 3091 0000             lds r19,(ErsatzKompass)+1
 783 082a 4091 0000             lds r20,(ErsatzKompass)+2
 784 082e 5091 0000             lds r21,(ErsatzKompass)+3
 785 0832 57FF                  sbrs r21,7
 786 0834 00C0                  rjmp .L28
 787 0836 260F                  add r18,r22
 788 0838 371F                  adc r19,r23
 789 083a 481F                  adc r20,r24
 790 083c 591F                  adc r21,r25
 791 083e 2093 0000             sts ErsatzKompass,r18
 792 0842 3093 0000             sts (ErsatzKompass)+1,r19
 793 0846 4093 0000             sts (ErsatzKompass)+2,r20
 794 084a 5093 0000             sts (ErsatzKompass)+3,r21
 795                    .L28:
 796 084e 2E89                  ldd r18,Y+22
 797 0850 3F89                  ldd r19,Y+23
 798 0852 280D                  add r18,r8
 799 0854 391D                  adc r19,r9
 800 0856 7901                  movw r14,r18
 801 0858 0027                  clr r16
 802 085a F7FC                  sbrc r15,7
 803 085c 0095                  com r16
 804 085e 102F                  mov r17,r16
 805 0860 8091 0000             lds r24,Mess_IntegralRoll2
 806 0864 9091 0000             lds r25,(Mess_IntegralRoll2)+1
 807 0868 A091 0000             lds r26,(Mess_IntegralRoll2)+2
 808 086c B091 0000             lds r27,(Mess_IntegralRoll2)+3
 809 0870 8E0D                  add r24,r14
 810 0872 9F1D                  adc r25,r15
 811 0874 A01F                  adc r26,r16
 812 0876 B11F                  adc r27,r17
 813 0878 8093 0000             sts Mess_IntegralRoll2,r24
 814 087c 9093 0000             sts (Mess_IntegralRoll2)+1,r25
 815 0880 A093 0000             sts (Mess_IntegralRoll2)+2,r26
 816 0884 B093 0000             sts (Mess_IntegralRoll2)+3,r27
 817 0888 8091 0000             lds r24,LageKorrekturRoll
 818 088c 9091 0000             lds r25,(LageKorrekturRoll)+1
 819 0890 281B                  sub r18,r24
 820 0892 390B                  sbc r19,r25
 821 0894 4427                  clr r20
 822 0896 37FD                  sbrc r19,7
 823 0898 4095                  com r20
 824 089a 542F                  mov r21,r20
 825 089c 8A89                  ldd r24,Y+18
 826 089e 9B89                  ldd r25,Y+19
 827 08a0 AC89                  ldd r26,Y+20
 828 08a2 BD89                  ldd r27,Y+21
 829 08a4 280F                  add r18,r24
 830 08a6 391F                  adc r19,r25
 831 08a8 4A1F                  adc r20,r26
 832 08aa 5B1F                  adc r21,r27
 833 08ac 2093 0000             sts Mess_IntegralRoll,r18
 834 08b0 3093 0000             sts (Mess_IntegralRoll)+1,r19
 835 08b4 4093 0000             sts (Mess_IntegralRoll)+2,r20
 836 08b8 5093 0000             sts (Mess_IntegralRoll)+3,r21
 837 08bc E090 0000             lds r14,Umschlag180Roll
 838 08c0 F090 0000             lds r15,(Umschlag180Roll)+1
 839 08c4 0091 0000             lds r16,(Umschlag180Roll)+2
 840 08c8 1091 0000             lds r17,(Umschlag180Roll)+3
 841 08cc E216                  cp r14,r18
 842 08ce F306                  cpc r15,r19
 843 08d0 0407                  cpc r16,r20
 844 08d2 1507                  cpc r17,r21
 845 08d4 04F4                  brge .L30
 846 08d6 88EA                  ldi r24,lo8(25000)
 847 08d8 91E6                  ldi r25,hi8(25000)
 848 08da A0E0                  ldi r26,hlo8(25000)
 849 08dc B0E0                  ldi r27,hhi8(25000)
 850 08de 8E19                  sub r24,r14
 851 08e0 9F09                  sbc r25,r15
 852 08e2 A00B                  sbc r26,r16
 853 08e4 B10B                  sbc r27,r17
 854 08e6 8093 0000             sts Mess_IntegralRoll,r24
 855 08ea 9093 0000             sts (Mess_IntegralRoll)+1,r25
 856 08ee A093 0000             sts (Mess_IntegralRoll)+2,r26
 857 08f2 B093 0000             sts (Mess_IntegralRoll)+3,r27
 858 08f6 8093 0000             sts Mess_IntegralRoll2,r24
 859 08fa 9093 0000             sts (Mess_IntegralRoll2)+1,r25
 860 08fe A093 0000             sts (Mess_IntegralRoll2)+2,r26
 861 0902 B093 0000             sts (Mess_IntegralRoll2)+3,r27
 862                    .L30:
 863 0906 2227                  clr r18
 864 0908 3327                  clr r19
 865 090a A901                  movw r20,r18
 866 090c 2E19                  sub r18,r14
 867 090e 3F09                  sbc r19,r15
 868 0910 400B                  sbc r20,r16
 869 0912 510B                  sbc r21,r17
 870 0914 8091 0000             lds r24,Mess_IntegralRoll
 871 0918 9091 0000             lds r25,(Mess_IntegralRoll)+1
 872 091c A091 0000             lds r26,(Mess_IntegralRoll)+2
 873 0920 B091 0000             lds r27,(Mess_IntegralRoll)+3
 874 0924 8217                  cp r24,r18
 875 0926 9307                  cpc r25,r19
 876 0928 A407                  cpc r26,r20
 877 092a B507                  cpc r27,r21
 878 092c 04F4                  brge .L32
 879 092e D801                  movw r26,r16
 880 0930 C701                  movw r24,r14
 881 0932 885A                  subi r24,lo8(-(-25000))
 882 0934 9146                  sbci r25,hi8(-(-25000))
 883 0936 A040                  sbci r26,hlo8(-(-25000))
 884 0938 B040                  sbci r27,hhi8(-(-25000))
 885 093a 8093 0000             sts Mess_IntegralRoll,r24
 886 093e 9093 0000             sts (Mess_IntegralRoll)+1,r25
 887 0942 A093 0000             sts (Mess_IntegralRoll)+2,r26
 888 0946 B093 0000             sts (Mess_IntegralRoll)+3,r27
 889 094a 8093 0000             sts Mess_IntegralRoll2,r24
 890 094e 9093 0000             sts (Mess_IntegralRoll2)+1,r25
 891 0952 A093 0000             sts (Mess_IntegralRoll2)+2,r26
 892 0956 B093 0000             sts (Mess_IntegralRoll2)+3,r27
 893                    .L32:
 894 095a 288D                  ldd r18,Y+24
 895 095c 398D                  ldd r19,Y+25
 896 095e 260D                  add r18,r6
 897 0960 371D                  adc r19,r7
 898 0962 7901                  movw r14,r18
 899 0964 0027                  clr r16
 900 0966 F7FC                  sbrc r15,7
 901 0968 0095                  com r16
 902 096a 102F                  mov r17,r16
 903 096c 8091 0000             lds r24,Mess_IntegralNick2
 904 0970 9091 0000             lds r25,(Mess_IntegralNick2)+1
 905 0974 A091 0000             lds r26,(Mess_IntegralNick2)+2
 906 0978 B091 0000             lds r27,(Mess_IntegralNick2)+3
 907 097c 8E0D                  add r24,r14
 908 097e 9F1D                  adc r25,r15
 909 0980 A01F                  adc r26,r16
 910 0982 B11F                  adc r27,r17
 911 0984 8093 0000             sts Mess_IntegralNick2,r24
 912 0988 9093 0000             sts (Mess_IntegralNick2)+1,r25
 913 098c A093 0000             sts (Mess_IntegralNick2)+2,r26
 914 0990 B093 0000             sts (Mess_IntegralNick2)+3,r27
 915 0994 8091 0000             lds r24,LageKorrekturNick
 916 0998 9091 0000             lds r25,(LageKorrekturNick)+1
 917 099c 281B                  sub r18,r24
 918 099e 390B                  sbc r19,r25
 919 09a0 4427                  clr r20
 920 09a2 37FD                  sbrc r19,7
 921 09a4 4095                  com r20
 922 09a6 542F                  mov r21,r20
 923 09a8 8E85                  ldd r24,Y+14
 924 09aa 9F85                  ldd r25,Y+15
 925 09ac A889                  ldd r26,Y+16
 926 09ae B989                  ldd r27,Y+17
 927 09b0 280F                  add r18,r24
 928 09b2 391F                  adc r19,r25
 929 09b4 4A1F                  adc r20,r26
 930 09b6 5B1F                  adc r21,r27
 931 09b8 2093 0000             sts Mess_IntegralNick,r18
 932 09bc 3093 0000             sts (Mess_IntegralNick)+1,r19
 933 09c0 4093 0000             sts (Mess_IntegralNick)+2,r20
 934 09c4 5093 0000             sts (Mess_IntegralNick)+3,r21
 935 09c8 E090 0000             lds r14,Umschlag180Nick
 936 09cc F090 0000             lds r15,(Umschlag180Nick)+1
 937 09d0 0091 0000             lds r16,(Umschlag180Nick)+2
 938 09d4 1091 0000             lds r17,(Umschlag180Nick)+3
 939 09d8 E216                  cp r14,r18
 940 09da F306                  cpc r15,r19
 941 09dc 0407                  cpc r16,r20
 942 09de 1507                  cpc r17,r21
 943 09e0 04F4                  brge .L34
 944 09e2 88EA                  ldi r24,lo8(25000)
 945 09e4 91E6                  ldi r25,hi8(25000)
 946 09e6 A0E0                  ldi r26,hlo8(25000)
 947 09e8 B0E0                  ldi r27,hhi8(25000)
 948 09ea 8E19                  sub r24,r14
 949 09ec 9F09                  sbc r25,r15
 950 09ee A00B                  sbc r26,r16
 951 09f0 B10B                  sbc r27,r17
 952 09f2 8093 0000             sts Mess_IntegralNick,r24
 953 09f6 9093 0000             sts (Mess_IntegralNick)+1,r25
 954 09fa A093 0000             sts (Mess_IntegralNick)+2,r26
 955 09fe B093 0000             sts (Mess_IntegralNick)+3,r27
 956 0a02 8093 0000             sts Mess_IntegralNick2,r24
 957 0a06 9093 0000             sts (Mess_IntegralNick2)+1,r25
 958 0a0a A093 0000             sts (Mess_IntegralNick2)+2,r26
 959 0a0e B093 0000             sts (Mess_IntegralNick2)+3,r27
 960                    .L34:
 961 0a12 2227                  clr r18
 962 0a14 3327                  clr r19
 963 0a16 A901                  movw r20,r18
 964 0a18 2E19                  sub r18,r14
 965 0a1a 3F09                  sbc r19,r15
 966 0a1c 400B                  sbc r20,r16
 967 0a1e 510B                  sbc r21,r17
 968 0a20 8091 0000             lds r24,Mess_IntegralNick
 969 0a24 9091 0000             lds r25,(Mess_IntegralNick)+1
 970 0a28 A091 0000             lds r26,(Mess_IntegralNick)+2
 971 0a2c B091 0000             lds r27,(Mess_IntegralNick)+3
 972 0a30 8217                  cp r24,r18
 973 0a32 9307                  cpc r25,r19
 974 0a34 A407                  cpc r26,r20
 975 0a36 B507                  cpc r27,r21
 976 0a38 04F4                  brge .L36
 977 0a3a D801                  movw r26,r16
 978 0a3c C701                  movw r24,r14
 979 0a3e 885A                  subi r24,lo8(-(-25000))
 980 0a40 9146                  sbci r25,hi8(-(-25000))
 981 0a42 A040                  sbci r26,hlo8(-(-25000))
 982 0a44 B040                  sbci r27,hhi8(-(-25000))
 983 0a46 8093 0000             sts Mess_IntegralNick,r24
 984 0a4a 9093 0000             sts (Mess_IntegralNick)+1,r25
 985 0a4e A093 0000             sts (Mess_IntegralNick)+2,r26
 986 0a52 B093 0000             sts (Mess_IntegralNick)+3,r27
 987 0a56 8093 0000             sts Mess_IntegralNick2,r24
 988 0a5a 9093 0000             sts (Mess_IntegralNick2)+1,r25
 989 0a5e A093 0000             sts (Mess_IntegralNick2)+2,r26
 990 0a62 B093 0000             sts (Mess_IntegralNick2)+3,r27
 991                    .L36:
 992 0a66 8091 0000             lds r24,Mess_Integral_Gier
 993 0a6a 9091 0000             lds r25,(Mess_Integral_Gier)+1
 994 0a6e A091 0000             lds r26,(Mess_Integral_Gier)+2
 995 0a72 B091 0000             lds r27,(Mess_Integral_Gier)+3
 996 0a76 8093 0000             sts Integral_Gier,r24
 997 0a7a 9093 0000             sts (Integral_Gier)+1,r25
 998 0a7e A093 0000             sts (Integral_Gier)+2,r26
 999 0a82 B093 0000             sts (Integral_Gier)+3,r27
 1000 0a86 8091 0000            lds r24,Mess_IntegralNick
 1001 0a8a 9091 0000            lds r25,(Mess_IntegralNick)+1
 1002 0a8e A091 0000            lds r26,(Mess_IntegralNick)+2
 1003 0a92 B091 0000            lds r27,(Mess_IntegralNick)+3
 1004 0a96 8093 0000            sts IntegralNick,r24
 1005 0a9a 9093 0000            sts (IntegralNick)+1,r25
 1006 0a9e A093 0000            sts (IntegralNick)+2,r26
 1007 0aa2 B093 0000            sts (IntegralNick)+3,r27
 1008 0aa6 8091 0000            lds r24,Mess_IntegralRoll
 1009 0aaa 9091 0000            lds r25,(Mess_IntegralRoll)+1
 1010 0aae A091 0000            lds r26,(Mess_IntegralRoll)+2
 1011 0ab2 B091 0000            lds r27,(Mess_IntegralRoll)+3
 1012 0ab6 8093 0000            sts IntegralRoll,r24
 1013 0aba 9093 0000            sts (IntegralRoll)+1,r25
 1014 0abe A093 0000            sts (IntegralRoll)+2,r26
 1015 0ac2 B093 0000            sts (IntegralRoll)+3,r27
 1016 0ac6 8091 0000            lds r24,Mess_IntegralNick2
 1017 0aca 9091 0000            lds r25,(Mess_IntegralNick2)+1
 1018 0ace A091 0000            lds r26,(Mess_IntegralNick2)+2
 1019 0ad2 B091 0000            lds r27,(Mess_IntegralNick2)+3
 1020 0ad6 8093 0000            sts IntegralNick2,r24
 1021 0ada 9093 0000            sts (IntegralNick2)+1,r25
 1022 0ade A093 0000            sts (IntegralNick2)+2,r26
 1023 0ae2 B093 0000            sts (IntegralNick2)+3,r27
 1024 0ae6 8091 0000            lds r24,Mess_IntegralRoll2
 1025 0aea 9091 0000            lds r25,(Mess_IntegralRoll2)+1
 1026 0aee A091 0000            lds r26,(Mess_IntegralRoll2)+2
 1027 0af2 B091 0000            lds r27,(Mess_IntegralRoll2)+3
 1028 0af6 8093 0000            sts IntegralRoll2,r24
 1029 0afa 9093 0000            sts (IntegralRoll2)+1,r25
 1030 0afe A093 0000            sts (IntegralRoll2)+2,r26
 1031 0b02 B093 0000            sts (IntegralRoll2)+3,r27
 1032 0b06 8091 0000            lds r24,HiResNick
 1033 0b0a 9091 0000            lds r25,(HiResNick)+1
 1034 0b0e 68E0                 ldi r22,lo8(8)
 1035 0b10 70E0                 ldi r23,hi8(8)
 1036 0b12 0E94 0000            call __divmodhi4
 1037 0b16 7093 0000            sts (MesswertNick)+1,r23
 1038 0b1a 6093 0000            sts MesswertNick,r22
 1039 0b1e 8091 0000            lds r24,HiResRoll
 1040 0b22 9091 0000            lds r25,(HiResRoll)+1
 1041 0b26 68E0                 ldi r22,lo8(8)
 1042 0b28 70E0                 ldi r23,hi8(8)
 1043 0b2a 0E94 0000            call __divmodhi4
 1044 0b2e 7093 0000            sts (MesswertRoll)+1,r23
 1045 0b32 6093 0000            sts MesswertRoll,r22
 1046 0b36 8091 0000            lds r24,AdWertNick
 1047 0b3a 9091 0000            lds r25,(AdWertNick)+1
 1048 0b3e 0F97                 sbiw r24,15
 1049 0b40 04F4                 brge .L38
 1050 0b42 88E1                 ldi r24,lo8(-1000)
 1051 0b44 9CEF                 ldi r25,hi8(-1000)
 1052 0b46 9093 0000            sts (MesswertNick)+1,r25
 1053 0b4a 8093 0000            sts MesswertNick,r24
 1054                   .L38:
 1055 0b4e 8091 0000            lds r24,AdWertNick
 1056 0b52 9091 0000            lds r25,(AdWertNick)+1
 1057 0b56 0797                 sbiw r24,7
 1058 0b58 04F4                 brge .L40
 1059 0b5a 80E3                 ldi r24,lo8(-2000)
 1060 0b5c 98EF                 ldi r25,hi8(-2000)
 1061 0b5e 9093 0000            sts (MesswertNick)+1,r25
 1062 0b62 8093 0000            sts MesswertNick,r24
 1063                   .L40:
 1064 0b66 2091 0000            lds r18,PlatinenVersion
 1065 0b6a 2A30                 cpi r18,lo8(10)
 1066 0b6c 01F4                 brne .L42
 1067 0b6e 8091 0000            lds r24,AdWertNick
 1068 0b72 9091 0000            lds r25,(AdWertNick)+1
 1069 0b76 835F                 subi r24,lo8(1011)
 1070 0b78 9340                 sbci r25,hi8(1011)
 1071 0b7a 04F0                 brlt .L44
 1072 0b7c 88EE                 ldi r24,lo8(1000)
 1073 0b7e 93E0                 ldi r25,hi8(1000)
 1074 0b80 9093 0000            sts (MesswertNick)+1,r25
 1075 0b84 8093 0000            sts MesswertNick,r24
 1076                   .L44:
 1077 0b88 8091 0000            lds r24,AdWertNick
 1078 0b8c 9091 0000            lds r25,(AdWertNick)+1
 1079 0b90 8A5F                 subi r24,lo8(1018)
 1080 0b92 9340                 sbci r25,hi8(1018)
 1081 0b94 04F0                 brlt .L46
 1082 0b96 00C0                 rjmp .L96
 1083                   .L42:
 1084 0b98 8091 0000            lds r24,AdWertNick
 1085 0b9c 9091 0000            lds r25,(AdWertNick)+1
 1086 0ba0 815D                 subi r24,lo8(2001)
 1087 0ba2 9740                 sbci r25,hi8(2001)
 1088 0ba4 04F0                 brlt .L48
 1089 0ba6 88EE                 ldi r24,lo8(1000)
 1090 0ba8 93E0                 ldi r25,hi8(1000)
 1091 0baa 9093 0000            sts (MesswertNick)+1,r25
 1092 0bae 8093 0000            sts MesswertNick,r24
 1093                   .L48:
 1094 0bb2 8091 0000            lds r24,AdWertNick
 1095 0bb6 9091 0000            lds r25,(AdWertNick)+1
 1096 0bba 805E                 subi r24,lo8(2016)
 1097 0bbc 9740                 sbci r25,hi8(2016)
 1098 0bbe 04F0                 brlt .L46
 1099                   .L96:
 1100 0bc0 80ED                 ldi r24,lo8(2000)
 1101 0bc2 97E0                 ldi r25,hi8(2000)
 1102 0bc4 9093 0000            sts (MesswertNick)+1,r25
 1103 0bc8 8093 0000            sts MesswertNick,r24
 1104                   .L46:
 1105 0bcc 8091 0000            lds r24,AdWertRoll
 1106 0bd0 9091 0000            lds r25,(AdWertRoll)+1
 1107 0bd4 0F97                 sbiw r24,15
 1108 0bd6 04F4                 brge .L51
 1109 0bd8 88E1                 ldi r24,lo8(-1000)
 1110 0bda 9CEF                 ldi r25,hi8(-1000)
 1111 0bdc 9093 0000            sts (MesswertRoll)+1,r25
 1112 0be0 8093 0000            sts MesswertRoll,r24
 1113                   .L51:
 1114 0be4 8091 0000            lds r24,AdWertRoll
 1115 0be8 9091 0000            lds r25,(AdWertRoll)+1
 1116 0bec 0797                 sbiw r24,7
 1117 0bee 04F4                 brge .L53
 1118 0bf0 80E3                 ldi r24,lo8(-2000)
 1119 0bf2 98EF                 ldi r25,hi8(-2000)
 1120 0bf4 9093 0000            sts (MesswertRoll)+1,r25
 1121 0bf8 8093 0000            sts MesswertRoll,r24
 1122                   .L53:
 1123 0bfc 2A30                 cpi r18,lo8(10)
 1124 0bfe 01F4                 brne .L55
 1125 0c00 8091 0000            lds r24,AdWertRoll
 1126 0c04 9091 0000            lds r25,(AdWertRoll)+1
 1127 0c08 835F                 subi r24,lo8(1011)
 1128 0c0a 9340                 sbci r25,hi8(1011)
 1129 0c0c 04F0                 brlt .L57
 1130 0c0e 88EE                 ldi r24,lo8(1000)
 1131 0c10 93E0                 ldi r25,hi8(1000)
 1132 0c12 9093 0000            sts (MesswertRoll)+1,r25
 1133 0c16 8093 0000            sts MesswertRoll,r24
 1134                   .L57:
 1135 0c1a 8091 0000            lds r24,AdWertRoll
 1136 0c1e 9091 0000            lds r25,(AdWertRoll)+1
 1137 0c22 8A5F                 subi r24,lo8(1018)
 1138 0c24 9340                 sbci r25,hi8(1018)
 1139 0c26 04F0                 brlt .L59
 1140 0c28 00C0                 rjmp .L97
 1141                   .L55:
 1142 0c2a 8091 0000            lds r24,AdWertRoll
 1143 0c2e 9091 0000            lds r25,(AdWertRoll)+1
 1144 0c32 815D                 subi r24,lo8(2001)
 1145 0c34 9740                 sbci r25,hi8(2001)
 1146 0c36 04F0                 brlt .L61
 1147 0c38 88EE                 ldi r24,lo8(1000)
 1148 0c3a 93E0                 ldi r25,hi8(1000)
 1149 0c3c 9093 0000            sts (MesswertRoll)+1,r25
 1150 0c40 8093 0000            sts MesswertRoll,r24
 1151                   .L61:
 1152 0c44 8091 0000            lds r24,AdWertRoll
 1153 0c48 9091 0000            lds r25,(AdWertRoll)+1
 1154 0c4c 805E                 subi r24,lo8(2016)
 1155 0c4e 9740                 sbci r25,hi8(2016)
 1156 0c50 04F0                 brlt .L59
 1157                   .L97:
 1158 0c52 80ED                 ldi r24,lo8(2000)
 1159 0c54 97E0                 ldi r25,hi8(2000)
 1160 0c56 9093 0000            sts (MesswertRoll)+1,r25
 1161 0c5a 8093 0000            sts MesswertRoll,r24
 1162                   .L59:
 1163 0c5e 4091 0000            lds r20,Parameter_Gyro_D
 1164 0c62 4423                 tst r20
 1165 0c64 01F4                 brne .+2
 1166 0c66 00C0                 rjmp .L64
 1167 0c68 E091 0000            lds r30,HiResNick
 1168 0c6c F091 0000            lds r31,(HiResNick)+1
 1169 0c70 2091 0000            lds r18,oldNick.2872
 1170 0c74 3091 0000            lds r19,(oldNick.2872)+1
 1171 0c78 E21B                 sub r30,r18
 1172 0c7a F30B                 sbc r31,r19
 1173 0c7c F093 0000            sts (d2Nick.2875)+1,r31
 1174 0c80 E093 0000            sts d2Nick.2875,r30
 1175 0c84 8091 0000            lds r24,HiResNick
 1176 0c88 9091 0000            lds r25,(HiResNick)+1
 1177 0c8c 820F                 add r24,r18
 1178 0c8e 931F                 adc r25,r19
 1179 0c90 62E0                 ldi r22,lo8(2)
 1180 0c92 70E0                 ldi r23,hi8(2)
 1181 0c94 0E94 0000            call __divmodhi4
 1182 0c98 7093 0000            sts (oldNick.2872)+1,r23
 1183 0c9c 6093 0000            sts oldNick.2872,r22
 1184 0ca0 E138                 cpi r30,129
 1185 0ca2 F105                 cpc r31,__zero_reg__
 1186 0ca4 04F0                 brlt .L66
 1187 0ca6 80E8                 ldi r24,lo8(128)
 1188 0ca8 90E0                 ldi r25,hi8(128)
 1189 0caa 00C0                 rjmp .L98
 1190                   .L66:
 1191 0cac E058                 subi r30,lo8(-128)
 1192 0cae FF4F                 sbci r31,hi8(-128)
 1193 0cb0 04F4                 brge .L68
 1194 0cb2 80E8                 ldi r24,lo8(-128)
 1195 0cb4 9FEF                 ldi r25,hi8(-128)
 1196                   .L98:
 1197 0cb6 9093 0000            sts (d2Nick.2875)+1,r25
 1198 0cba 8093 0000            sts d2Nick.2875,r24
 1199                   .L68:
 1200 0cbe E091 0000            lds r30,HiResRoll
 1201 0cc2 F091 0000            lds r31,(HiResRoll)+1
 1202 0cc6 2091 0000            lds r18,oldRoll.2873
 1203 0cca 3091 0000            lds r19,(oldRoll.2873)+1
 1204 0cce E21B                 sub r30,r18
 1205 0cd0 F30B                 sbc r31,r19
 1206 0cd2 F093 0000            sts (d2Roll.2874)+1,r31
 1207 0cd6 E093 0000            sts d2Roll.2874,r30
 1208 0cda 8091 0000            lds r24,HiResRoll
 1209 0cde 9091 0000            lds r25,(HiResRoll)+1
 1210 0ce2 820F                 add r24,r18
 1211 0ce4 931F                 adc r25,r19
 1212 0ce6 62E0                 ldi r22,lo8(2)
 1213 0ce8 70E0                 ldi r23,hi8(2)
 1214 0cea 0E94 0000            call __divmodhi4
 1215 0cee 7093 0000            sts (oldRoll.2873)+1,r23
 1216 0cf2 6093 0000            sts oldRoll.2873,r22
 1217 0cf6 E138                 cpi r30,129
 1218 0cf8 F105                 cpc r31,__zero_reg__
 1219 0cfa 04F0                 brlt .L70
 1220 0cfc 80E8                 ldi r24,lo8(128)
 1221 0cfe 90E0                 ldi r25,hi8(128)
 1222 0d00 00C0                 rjmp .L99
 1223                   .L70:
 1224 0d02 E058                 subi r30,lo8(-128)
 1225 0d04 FF4F                 sbci r31,hi8(-128)
 1226 0d06 04F4                 brge .L72
 1227 0d08 80E8                 ldi r24,lo8(-128)
 1228 0d0a 9FEF                 ldi r25,hi8(-128)
 1229                   .L99:
 1230 0d0c 9093 0000            sts (d2Roll.2874)+1,r25
 1231 0d10 8093 0000            sts d2Roll.2874,r24
 1232                   .L72:
 1233 0d14 242F                 mov r18,r20
 1234 0d16 30E0                 ldi r19,lo8(0)
 1235 0d18 8091 0000            lds r24,d2Nick.2875
 1236 0d1c 9091 0000            lds r25,(d2Nick.2875)+1
 1237 0d20 289F                 mul r18,r24
 1238 0d22 F001                 movw r30,r0
 1239 0d24 299F                 mul r18,r25
 1240 0d26 F00D                 add r31,r0
 1241 0d28 389F                 mul r19,r24
 1242 0d2a F00D                 add r31,r0
 1243 0d2c 1124                 clr r1
 1244 0d2e CF01                 movw r24,r30
 1245 0d30 60E1                 ldi r22,lo8(16)
 1246 0d32 70E0                 ldi r23,hi8(16)
 1247 0d34 0E94 0000            call __divmodhi4
 1248 0d38 8091 0000            lds r24,MesswertNick
 1249 0d3c 9091 0000            lds r25,(MesswertNick)+1
 1250 0d40 860F                 add r24,r22
 1251 0d42 971F                 adc r25,r23
 1252 0d44 9093 0000            sts (MesswertNick)+1,r25
 1253 0d48 8093 0000            sts MesswertNick,r24
 1254 0d4c 8091 0000            lds r24,d2Roll.2874
 1255 0d50 9091 0000            lds r25,(d2Roll.2874)+1
 1256 0d54 D901                 movw r26,r18
 1257 0d56 A89F                 mul r26,r24
 1258 0d58 9001                 movw r18,r0
 1259 0d5a A99F                 mul r26,r25
 1260 0d5c 300D                 add r19,r0
 1261 0d5e B89F                 mul r27,r24
 1262 0d60 300D                 add r19,r0
 1263 0d62 1124                 clr r1
 1264 0d64 C901                 movw r24,r18
 1265 0d66 60E1                 ldi r22,lo8(16)
 1266 0d68 70E0                 ldi r23,hi8(16)
 1267 0d6a 0E94 0000            call __divmodhi4
 1268 0d6e 8091 0000            lds r24,MesswertRoll
 1269 0d72 9091 0000            lds r25,(MesswertRoll)+1
 1270 0d76 860F                 add r24,r22
 1271 0d78 971F                 adc r25,r23
 1272 0d7a 9093 0000            sts (MesswertRoll)+1,r25
 1273 0d7e 8093 0000            sts MesswertRoll,r24
 1274 0d82 8091 0000            lds r24,HiResNick
 1275 0d86 9091 0000            lds r25,(HiResNick)+1
 1276 0d8a E80F                 add r30,r24
 1277 0d8c F91F                 adc r31,r25
 1278 0d8e F093 0000            sts (HiResNick)+1,r31
 1279 0d92 E093 0000            sts HiResNick,r30
 1280 0d96 8091 0000            lds r24,HiResRoll
 1281 0d9a 9091 0000            lds r25,(HiResRoll)+1
 1282 0d9e 280F                 add r18,r24
 1283 0da0 391F                 adc r19,r25
 1284 0da2 3093 0000            sts (HiResRoll)+1,r19
 1285 0da6 2093 0000            sts HiResRoll,r18
 1286                   .L64:
 1287 0daa 6091 0000            lds r22,KopplungsteilNickRoll
 1288 0dae 7091 0000            lds r23,(KopplungsteilNickRoll)+1
 1289 0db2 EE89                 ldd r30,Y+22
 1290 0db4 FF89                 ldd r31,Y+23
 1291 0db6 1E16                 cp __zero_reg__,r30
 1292 0db8 1F06                 cpc __zero_reg__,r31
 1293 0dba 04F4                 brge .L74
 1294 0dbc CB01                 movw r24,r22
 1295 0dbe 77FF                 sbrs r23,7
 1296 0dc0 00C0                 rjmp .L76
 1297 0dc2 8827                 clr r24
 1298 0dc4 9927                 clr r25
 1299 0dc6 861B                 sub r24,r22
 1300 0dc8 970B                 sbc r25,r23
 1301                   .L76:
 1302 0dca 9C01                 movw r18,r24
 1303 0dcc B901                 movw r22,r18
 1304 0dce 8827                 clr r24
 1305 0dd0 77FD                 sbrc r23,7
 1306 0dd2 8095                 com r24
 1307 0dd4 982F                 mov r25,r24
 1308 0dd6 2091 0000            lds r18,Parameter_CouplingYawCorrection
 1309 0dda 30E0                 ldi r19,lo8(0)
 1310 0ddc 40E0                 ldi r20,lo8(0)
 1311 0dde 50E0                 ldi r21,hi8(0)
 1312 0de0 0E94 0000            call __mulsi3
 1313 0de4 20E4                 ldi r18,lo8(64)
 1314 0de6 30E0                 ldi r19,hi8(64)
 1315 0de8 40E0                 ldi r20,hlo8(64)
 1316 0dea 50E0                 ldi r21,hhi8(64)
 1317 0dec 0E94 0000            call __divmodsi4
 1318 0df0 820E                 add r8,r18
 1319 0df2 931E                 adc r9,r19
 1320 0df4 00C0                 rjmp .L100
 1321                   .L74:
 1322 0df6 77FF                 sbrs r23,7
 1323 0df8 00C0                 rjmp .L78
 1324 0dfa 7095                 com r23
 1325 0dfc 6195                 neg r22
 1326 0dfe 7F4F                 sbci r23,lo8(-1)
 1327                   .L78:
 1328 0e00 8827                 clr r24
 1329 0e02 77FD                 sbrc r23,7
 1330 0e04 8095                 com r24
 1331 0e06 982F                 mov r25,r24
 1332 0e08 2091 0000            lds r18,Parameter_CouplingYawCorrection
 1333 0e0c 30E0                 ldi r19,lo8(0)
 1334 0e0e 40E0                 ldi r20,lo8(0)
 1335 0e10 50E0                 ldi r21,hi8(0)
 1336 0e12 0E94 0000            call __mulsi3
 1337 0e16 20E4                 ldi r18,lo8(64)
 1338 0e18 30E0                 ldi r19,hi8(64)
 1339 0e1a 40E0                 ldi r20,hlo8(64)
 1340 0e1c 50E0                 ldi r21,hhi8(64)
 1341 0e1e 0E94 0000            call __divmodsi4
 1342 0e22 821A                 sub r8,r18
 1343 0e24 930A                 sbc r9,r19
 1344                   .L100:
 1345 0e26 9092 0000            sts (TrimRoll)+1,r9
 1346 0e2a 8092 0000            sts TrimRoll,r8
 1347 0e2e 6091 0000            lds r22,KopplungsteilRollNick
 1348 0e32 7091 0000            lds r23,(KopplungsteilRollNick)+1
 1349 0e36 488D                 ldd r20,Y+24
 1350 0e38 598D                 ldd r21,Y+25
 1351 0e3a 1416                 cp __zero_reg__,r20
 1352 0e3c 1506                 cpc __zero_reg__,r21
 1353 0e3e 04F4                 brge .L79
 1354 0e40 CB01                 movw r24,r22
 1355 0e42 77FF                 sbrs r23,7
 1356 0e44 00C0                 rjmp .L81
 1357 0e46 8827                 clr r24
 1358 0e48 9927                 clr r25
 1359 0e4a 861B                 sub r24,r22
 1360 0e4c 970B                 sbc r25,r23
 1361                   .L81:
 1362 0e4e DC01                 movw r26,r24
 1363 0e50 BD01                 movw r22,r26
 1364 0e52 8827                 clr r24
 1365 0e54 77FD                 sbrc r23,7
 1366 0e56 8095                 com r24
 1367 0e58 982F                 mov r25,r24
 1368 0e5a 2091 0000            lds r18,Parameter_CouplingYawCorrection
 1369 0e5e 30E0                 ldi r19,lo8(0)
 1370 0e60 40E0                 ldi r20,lo8(0)
 1371 0e62 50E0                 ldi r21,hi8(0)
 1372 0e64 0E94 0000            call __mulsi3
 1373 0e68 20E4                 ldi r18,lo8(64)
 1374 0e6a 30E0                 ldi r19,hi8(64)
 1375 0e6c 40E0                 ldi r20,hlo8(64)
 1376 0e6e 50E0                 ldi r21,hhi8(64)
 1377 0e70 0E94 0000            call __divmodsi4
 1378 0e74 620E                 add r6,r18
 1379 0e76 731E                 adc r7,r19
 1380 0e78 00C0                 rjmp .L101
 1381                   .L79:
 1382 0e7a 77FF                 sbrs r23,7
 1383 0e7c 00C0                 rjmp .L83
 1384 0e7e 7095                 com r23
 1385 0e80 6195                 neg r22
 1386 0e82 7F4F                 sbci r23,lo8(-1)
 1387                   .L83:
 1388 0e84 8827                 clr r24
 1389 0e86 77FD                 sbrc r23,7
 1390 0e88 8095                 com r24
 1391 0e8a 982F                 mov r25,r24
 1392 0e8c 2091 0000            lds r18,Parameter_CouplingYawCorrection
 1393 0e90 30E0                 ldi r19,lo8(0)
 1394 0e92 40E0                 ldi r20,lo8(0)
 1395 0e94 50E0                 ldi r21,hi8(0)
 1396 0e96 0E94 0000            call __mulsi3
 1397 0e9a 20E4                 ldi r18,lo8(64)
 1398 0e9c 30E0                 ldi r19,hi8(64)
 1399 0e9e 40E0                 ldi r20,hlo8(64)
 1400 0ea0 50E0                 ldi r21,hhi8(64)
 1401 0ea2 0E94 0000            call __divmodsi4
 1402 0ea6 621A                 sub r6,r18
 1403 0ea8 730A                 sbc r7,r19
 1404                   .L101:
 1405 0eaa 7092 0000            sts (TrimNick)+1,r7
 1406 0eae 6092 0000            sts TrimNick,r6
 1407 0eb2 8091 0000            lds r24,EE_Parameter+13
 1408 0eb6 87FF                 sbrs r24,7
 1409 0eb8 00C0                 rjmp .L95
 1410 0eba B985                 ldd r27,Y+9
 1411 0ebc BB23                 tst r27
 1412 0ebe 01F0                 breq .+2
 1413 0ec0 00C0                 rjmp .L95
 1414 0ec2 8091 0000            lds r24,Looping_Roll
 1415 0ec6 8823                 tst r24
 1416 0ec8 01F0                 breq .+2
 1417 0eca 00C0                 rjmp .L95
 1418 0ecc E88D                 ldd r30,Y+24
 1419 0ece F98D                 ldd r31,Y+25
 1420 0ed0 21E0                 ldi r18,hi8(257)
 1421 0ed2 E130                 cpi r30,lo8(257)
 1422 0ed4 F207                 cpc r31,r18
 1423 0ed6 04F0                 brlt .L88
 1424 0ed8 8091 0000            lds r24,MesswertNick
 1425 0edc 9091 0000            lds r25,(MesswertNick)+1
 1426 0ee0 8050                 subi r24,lo8(-(-256))
 1427 0ee2 9140                 sbci r25,hi8(-(-256))
 1428 0ee4 8E0F                 add r24,r30
 1429 0ee6 9F1F                 adc r25,r31
 1430 0ee8 00C0                 rjmp .L102
 1431                   .L88:
 1432 0eea 488D                 ldd r20,Y+24
 1433 0eec 598D                 ldd r21,Y+25
 1434 0eee 6FEF                 ldi r22,hi8(-256)
 1435 0ef0 4030                 cpi r20,lo8(-256)
 1436 0ef2 5607                 cpc r21,r22
 1437 0ef4 04F4                 brge .L90
 1438 0ef6 8091 0000            lds r24,MesswertNick
 1439 0efa 9091 0000            lds r25,(MesswertNick)+1
 1440 0efe 8050                 subi r24,lo8(-(256))
 1441 0f00 9F4F                 sbci r25,hi8(-(256))
 1442 0f02 840F                 add r24,r20
 1443 0f04 951F                 adc r25,r21
 1444                   .L102:
 1445 0f06 9093 0000            sts (MesswertNick)+1,r25
 1446 0f0a 8093 0000            sts MesswertNick,r24
 1447                   .L90:
 1448 0f0e 8E89                 ldd r24,Y+22
 1449 0f10 9F89                 ldd r25,Y+23
 1450 0f12 8150                 subi r24,lo8(257)
 1451 0f14 9140                 sbci r25,hi8(257)
 1452 0f16 04F0                 brlt .L92
 1453 0f18 8091 0000            lds r24,MesswertRoll
 1454 0f1c 9091 0000            lds r25,(MesswertRoll)+1
 1455 0f20 8050                 subi r24,lo8(-(-256))
 1456 0f22 9140                 sbci r25,hi8(-(-256))
 1457 0f24 EE89                 ldd r30,Y+22
 1458 0f26 FF89                 ldd r31,Y+23
 1459 0f28 8E0F                 add r24,r30
 1460 0f2a 9F1F                 adc r25,r31
 1461 0f2c 00C0                 rjmp .L103
 1462                   .L92:
 1463 0f2e 2E89                 ldd r18,Y+22
 1464 0f30 3F89                 ldd r19,Y+23
 1465 0f32 4FEF                 ldi r20,hi8(-256)
 1466 0f34 2030                 cpi r18,lo8(-256)
 1467 0f36 3407                 cpc r19,r20
 1468 0f38 04F4                 brge .L95
 1469 0f3a 8091 0000            lds r24,MesswertRoll
 1470 0f3e 9091 0000            lds r25,(MesswertRoll)+1
 1471 0f42 8050                 subi r24,lo8(-(256))
 1472 0f44 9F4F                 sbci r25,hi8(-(256))
 1473 0f46 820F                 add r24,r18
 1474 0f48 931F                 adc r25,r19
 1475                   .L103:
 1476 0f4a 9093 0000            sts (MesswertRoll)+1,r25
 1477 0f4e 8093 0000            sts MesswertRoll,r24
 1478                   .L95:
 1479                   /* epilogue: frame size=27 */
 1480 0f52 E2E1                 ldi r30,18
 1481 0f54 C55E                 subi r28,-27
 1482 0f56 0C94 0000            jmp __epilogue_restores__+0
 1483                   /* epilogue end (size=4) */
 1484                   /* function Mittelwert size 1733 (1723) */
 1486                   .global SendMotorData
 1488                   SendMotorData:
 1489                   /* prologue: frame size=0 */
 1490                   /* prologue end (size=0) */
 1491 0f5a 8091 0000            lds r24,MotorenEin
 1492 0f5e 8823                 tst r24
 1493 0f60 01F4                 brne .L105
 1494 0f62 8091 0000            lds r24,FC_StatusFlags
 1495 0f66 8C7F                 andi r24,lo8(-4)
 1496 0f68 8093 0000            sts FC_StatusFlags,r24
 1497 0f6c A0E0                 ldi r26,lo8(MotorTest)
 1498 0f6e B0E0                 ldi r27,hi8(MotorTest)
 1499 0f70 E0E0                 ldi r30,lo8(Motor+1)
 1500 0f72 F0E0                 ldi r31,hi8(Motor+1)
 1501                   .L107:
 1502 0f74 8091 0000            lds r24,PC_MotortestActive
 1503 0f78 8823                 tst r24
 1504 0f7a 01F4                 brne .L108
 1505 0f7c 1C92                 st X,__zero_reg__
 1506                   .L108:
 1507 0f7e 8D91                 ld r24,X+
 1508 0f80 8083                 st Z,r24
 1509 0f82 1182                 std Z+1,__zero_reg__
 1510 0f84 3896                 adiw r30,8
 1511 0f86 80E0                 ldi r24,hi8(MotorTest+12)
 1512 0f88 A030                 cpi r26,lo8(MotorTest+12)
 1513 0f8a B807                 cpc r27,r24
 1514 0f8c 01F4                 brne .L107
 1515 0f8e 8091 0000            lds r24,PC_MotortestActive
 1516 0f92 8823                 tst r24
 1517 0f94 01F0                 breq .L111
 1518 0f96 8091 0000            lds r24,PC_MotortestActive
 1519 0f9a 8150                 subi r24,lo8(-(-1))
 1520 0f9c 8093 0000            sts PC_MotortestActive,r24
 1521 0fa0 00C0                 rjmp .L111
 1522                   .L105:
 1523 0fa2 8091 0000            lds r24,FC_StatusFlags
 1524 0fa6 8160                 ori r24,lo8(1)
 1525 0fa8 8093 0000            sts FC_StatusFlags,r24
 1526                   .L111:
 1527 0fac 8091 0000            lds r24,I2C_TransferActive
 1528 0fb0 8823                 tst r24
 1529 0fb2 01F0                 breq .L113
 1530 0fb4 1092 0000            sts I2C_TransferActive,__zero_reg__
 1531 0fb8 0895                 ret
 1532                   .L113:
 1533 0fba 1092 0000            sts motor_write,__zero_reg__
 1534 0fbe 1092 0000            sts twi_state,__zero_reg__
 1535 0fc2 8091 0000            lds r24,BLFlags
 1536 0fc6 8E7F                 andi r24,lo8(-2)
 1537 0fc8 8093 0000            sts BLFlags,r24
 1538 0fcc 85EA                 ldi r24,lo8(-91)
 1539 0fce 8093 BC00            sts 188,r24
 1540 0fd2 0895                 ret
 1541                   /* epilogue: frame size=0 */
 1542                   /* epilogue: noreturn */
 1543                   /* epilogue end (size=0) */
 1544                   /* function SendMotorData size 61 (61) */
 1546                   .global ParameterZuordnung
 1548                   ParameterZuordnung:
 1549                   /* prologue: frame size=0 */
 1550 0fd4 0F93                 push r16
 1551 0fd6 1F93                 push r17
 1552 0fd8 CF93                 push r28
 1553 0fda DF93                 push r29
 1554                   /* prologue end (size=4) */
 1555 0fdc 00E0                 ldi r16,lo8(EE_Parameter+5)
 1556 0fde 10E0                 ldi r17,hi8(EE_Parameter+5)
 1557 0fe0 C0E0                 ldi r28,lo8(Poti)
 1558 0fe2 D0E0                 ldi r29,hi8(Poti)
 1559                   .L120:
 1560 0fe4 D801                 movw r26,r16
 1561 0fe6 EC91                 ld r30,X
 1562 0fe8 F0E0                 ldi r31,lo8(0)
 1563 0fea EE0F                 lsl r30
 1564 0fec FF1F                 rol r31
 1565 0fee E050                 subi r30,lo8(-(PPM_in))
 1566 0ff0 F040                 sbci r31,hi8(-(PPM_in))
 1567 0ff2 8081                 ld r24,Z
 1568 0ff4 9181                 ldd r25,Z+1
 1569 0ff6 8259                 subi r24,lo8(-(110))
 1570 0ff8 9F4F                 sbci r25,hi8(-(110))
 1571 0ffa 97FF                 sbrs r25,7
 1572 0ffc 00C0                 rjmp .L121
 1573 0ffe 80E0                 ldi r24,lo8(0)
 1574 1000 90E0                 ldi r25,hi8(0)
 1575                   .L121:
 1576 1002 FC01                 movw r30,r24
 1577 1004 8F3F                 cpi r24,255
 1578 1006 9105                 cpc r25,__zero_reg__
 1579 1008 01F0                 breq .L122
 1580 100a 04F0                 brlt .L122
 1581 100c EFEF                 ldi r30,lo8(255)
 1582 100e F0E0                 ldi r31,hi8(255)
 1583                   .L122:
 1584 1010 2881                 ld r18,Y
 1585 1012 822F                 mov r24,r18
 1586 1014 90E0                 ldi r25,lo8(0)
 1587 1016 E817                 cp r30,r24
 1588 1018 F907                 cpc r31,r25
 1589 101a 01F0                 breq .L123
 1590 101c AF01                 movw r20,r30
 1591 101e 481B                 sub r20,r24
 1592 1020 590B                 sbc r21,r25
 1593 1022 CA01                 movw r24,r20
 1594 1024 64E0                 ldi r22,lo8(4)
 1595 1026 70E0                 ldi r23,hi8(4)
 1596 1028 0E94 0000            call __divmodhi4
 1597 102c 260F                 add r18,r22
 1598 102e 2883                 st Y,r18
 1599 1030 822F                 mov r24,r18
 1600 1032 90E0                 ldi r25,lo8(0)
 1601 1034 E817                 cp r30,r24
 1602 1036 F907                 cpc r31,r25
 1603 1038 04F4                 brge .L125
 1604 103a 2150                 subi r18,lo8(-(-1))
 1605 103c 00C0                 rjmp .L267
 1606                   .L125:
 1607 103e 2F5F                 subi r18,lo8(-(1))
 1608                   .L267:
 1609 1040 2883                 st Y,r18
 1610                   .L123:
 1611 1042 0F5F                 subi r16,lo8(-(1))
 1612 1044 1F4F                 sbci r17,hi8(-(1))
 1613 1046 2196                 adiw r28,1
 1614 1048 50E0                 ldi r21,hi8(EE_Parameter+13)
 1615 104a 0030                 cpi r16,lo8(EE_Parameter+13)
 1616 104c 1507                 cpc r17,r21
 1617 104e 01F4                 brne .L120
 1618 1050 8091 0000            lds r24,EE_Parameter+15
 1619 1054 883F                 cpi r24,lo8(-8)
 1620 1056 00F0                 brlo .L268
 1621 1058 EFEF                 ldi r30,lo8(255)
 1622 105a F0E0                 ldi r31,hi8(255)
 1623 105c E81B                 sub r30,r24
 1624 105e F109                 sbc r31,__zero_reg__
 1625 1060 E050                 subi r30,lo8(-(Poti))
 1626 1062 F040                 sbci r31,hi8(-(Poti))
 1627 1064 8081                 ld r24,Z
 1628                   .L268:
 1629 1066 8093 0000            sts Parameter_Luftdruck_D,r24
 1630 106a 8091 0000            lds r24,Parameter_Luftdruck_D
 1631 106e 8823                 tst r24
 1632 1070 01F4                 brne .L131
 1633 1072 1092 0000            sts Parameter_Luftdruck_D,__zero_reg__
 1634 1076 00C0                 rjmp .L133
 1635                   .L131:
 1636 1078 8436                 cpi r24,lo8(100)
 1637 107a 00F0                 brlo .L133
 1638 107c 84E6                 ldi r24,lo8(100)
 1639 107e 8093 0000            sts Parameter_Luftdruck_D,r24
 1640                   .L133:
 1641 1082 8091 0000            lds r24,EE_Parameter+17
 1642 1086 883F                 cpi r24,lo8(-8)
 1643 1088 00F0                 brlo .L269
 1644 108a EFEF                 ldi r30,lo8(255)
 1645 108c F0E0                 ldi r31,hi8(255)
 1646 108e E81B                 sub r30,r24
 1647 1090 F109                 sbc r31,__zero_reg__
 1648 1092 E050                 subi r30,lo8(-(Poti))
 1649 1094 F040                 sbci r31,hi8(-(Poti))
 1650 1096 8081                 ld r24,Z
 1651                   .L269:
 1652 1098 8093 0000            sts Parameter_Hoehe_P,r24
 1653 109c 8091 0000            lds r24,Parameter_Hoehe_P
 1654 10a0 8823                 tst r24
 1655 10a2 01F4                 brne .L138
 1656 10a4 1092 0000            sts Parameter_Hoehe_P,__zero_reg__
 1657 10a8 00C0                 rjmp .L140
 1658                   .L138:
 1659 10aa 8436                 cpi r24,lo8(100)
 1660 10ac 00F0                 brlo .L140
 1661 10ae 84E6                 ldi r24,lo8(100)
 1662 10b0 8093 0000            sts Parameter_Hoehe_P,r24
 1663                   .L140:
 1664 10b4 8091 0000            lds r24,EE_Parameter+30
 1665 10b8 883F                 cpi r24,lo8(-8)
 1666 10ba 00F0                 brlo .L270
 1667 10bc EFEF                 ldi r30,lo8(255)
 1668 10be F0E0                 ldi r31,hi8(255)
 1669 10c0 E81B                 sub r30,r24
 1670 10c2 F109                 sbc r31,__zero_reg__
 1671 10c4 E050                 subi r30,lo8(-(Poti))
 1672 10c6 F040                 sbci r31,hi8(-(Poti))
 1673 10c8 8081                 ld r24,Z
 1674                   .L270:
 1675 10ca 8093 0000            sts Parameter_Gyro_P,r24
 1676 10ce 8091 0000            lds r24,Parameter_Gyro_P
 1677 10d2 8B30                 cpi r24,lo8(11)
 1678 10d4 00F4                 brsh .L145
 1679 10d6 8AE0                 ldi r24,lo8(10)
 1680 10d8 00C0                 rjmp .L271
 1681                   .L145:
 1682 10da 8F3F                 cpi r24,lo8(-1)
 1683 10dc 01F4                 brne .L147
 1684                   .L271:
 1685 10de 8093 0000            sts Parameter_Gyro_P,r24
 1686                   .L147:
 1687 10e2 8091 0000            lds r24,EE_Parameter+75
 1688 10e6 883F                 cpi r24,lo8(-8)
 1689 10e8 00F0                 brlo .L272
 1690 10ea EFEF                 ldi r30,lo8(255)
 1691 10ec F0E0                 ldi r31,hi8(255)
 1692 10ee E81B                 sub r30,r24
 1693 10f0 F109                 sbc r31,__zero_reg__
 1694 10f2 E050                 subi r30,lo8(-(Poti))
 1695 10f4 F040                 sbci r31,hi8(-(Poti))
 1696 10f6 8081                 ld r24,Z
 1697                   .L272:
 1698 10f8 8093 0000            sts Parameter_J16Timing,r24
 1699 10fc 8091 0000            lds r24,Parameter_J16Timing
 1700 1100 8230                 cpi r24,lo8(2)
 1701 1102 00F4                 brsh .L152
 1702 1104 81E0                 ldi r24,lo8(1)
 1703 1106 00C0                 rjmp .L273
 1704                   .L152:
 1705 1108 8F3F                 cpi r24,lo8(-1)
 1706 110a 01F4                 brne .L154
 1707                   .L273:
 1708 110c 8093 0000            sts Parameter_J16Timing,r24
 1709                   .L154:
 1710 1110 8091 0000            lds r24,EE_Parameter+77
 1711 1114 883F                 cpi r24,lo8(-8)
 1712 1116 00F0                 brlo .L274
 1713 1118 EFEF                 ldi r30,lo8(255)
 1714 111a F0E0                 ldi r31,hi8(255)
 1715 111c E81B                 sub r30,r24
 1716 111e F109                 sbc r31,__zero_reg__
 1717 1120 E050                 subi r30,lo8(-(Poti))
 1718 1122 F040                 sbci r31,hi8(-(Poti))
 1719 1124 8081                 ld r24,Z
 1720                   .L274:
 1721 1126 8093 0000            sts Parameter_J17Timing,r24
 1722 112a 8091 0000            lds r24,Parameter_J17Timing
 1723 112e 8230                 cpi r24,lo8(2)
 1724 1130 00F4                 brsh .L159
 1725 1132 81E0                 ldi r24,lo8(1)
 1726 1134 00C0                 rjmp .L275
 1727                   .L159:
 1728 1136 8F3F                 cpi r24,lo8(-1)
 1729 1138 01F4                 brne .L161
 1730                   .L275:
 1731 113a 8093 0000            sts Parameter_J17Timing,r24
 1732                   .L161:
 1733 113e 8091 0000            lds r24,EE_Parameter+56
 1734 1142 883F                 cpi r24,lo8(-8)
 1735 1144 00F0                 brlo .L276
 1736 1146 EFEF                 ldi r30,lo8(255)
 1737 1148 F0E0                 ldi r31,hi8(255)
 1738 114a E81B                 sub r30,r24
 1739 114c F109                 sbc r31,__zero_reg__
 1740 114e E050                 subi r30,lo8(-(Poti))
 1741 1150 F040                 sbci r31,hi8(-(Poti))
 1742 1152 8081                 ld r24,Z
 1743                   .L276:
 1744 1154 8093 0000            sts Parameter_Servo3,r24
 1745 1158 8091 0000            lds r24,EE_Parameter+57
 1746 115c 883F                 cpi r24,lo8(-8)
 1747 115e 00F0                 brlo .L277
 1748 1160 EFEF                 ldi r30,lo8(255)
 1749 1162 F0E0                 ldi r31,hi8(255)
 1750 1164 E81B                 sub r30,r24
 1751 1166 F109                 sbc r31,__zero_reg__
 1752 1168 E050                 subi r30,lo8(-(Poti))
 1753 116a F040                 sbci r31,hi8(-(Poti))
 1754 116c 8081                 ld r24,Z
 1755                   .L277:
 1756 116e 8093 0000            sts Parameter_Servo4,r24
 1757 1172 8091 0000            lds r24,EE_Parameter+58
 1758 1176 883F                 cpi r24,lo8(-8)
 1759 1178 00F0                 brlo .L278
 1760 117a EFEF                 ldi r30,lo8(255)
 1761 117c F0E0                 ldi r31,hi8(255)
 1762 117e E81B                 sub r30,r24
 1763 1180 F109                 sbc r31,__zero_reg__
 1764 1182 E050                 subi r30,lo8(-(Poti))
 1765 1184 F040                 sbci r31,hi8(-(Poti))
 1766 1186 8081                 ld r24,Z
 1767                   .L278:
 1768 1188 8093 0000            sts Parameter_Servo5,r24
 1769 118c 8091 0000            lds r24,EE_Parameter+16
 1770 1190 883F                 cpi r24,lo8(-8)
 1771 1192 00F0                 brlo .L279
 1772 1194 EFEF                 ldi r30,lo8(255)
 1773 1196 F0E0                 ldi r31,hi8(255)
 1774 1198 E81B                 sub r30,r24
 1775 119a F109                 sbc r31,__zero_reg__
 1776 119c E050                 subi r30,lo8(-(Poti))
 1777 119e F040                 sbci r31,hi8(-(Poti))
 1778 11a0 8081                 ld r24,Z
 1779                   .L279:
 1780 11a2 8093 0000            sts Parameter_MaxHoehe,r24
 1781 11a6 8091 0000            lds r24,EE_Parameter+19
 1782 11aa 883F                 cpi r24,lo8(-8)
 1783 11ac 00F0                 brlo .L280
 1784 11ae EFEF                 ldi r30,lo8(255)
 1785 11b0 F0E0                 ldi r31,hi8(255)
 1786 11b2 E81B                 sub r30,r24
 1787 11b4 F109                 sbc r31,__zero_reg__
 1788 11b6 E050                 subi r30,lo8(-(Poti))
 1789 11b8 F040                 sbci r31,hi8(-(Poti))
 1790 11ba 8081                 ld r24,Z
 1791                   .L280:
 1792 11bc 8093 0000            sts Parameter_Hoehe_ACC_Wirkung,r24
 1793 11c0 8091 0000            lds r24,EE_Parameter+21
 1794 11c4 883F                 cpi r24,lo8(-8)
 1795 11c6 00F0                 brlo .L281
 1796 11c8 EFEF                 ldi r30,lo8(255)
 1797 11ca F0E0                 ldi r31,hi8(255)
 1798 11cc E81B                 sub r30,r24
 1799 11ce F109                 sbc r31,__zero_reg__
 1800 11d0 E050                 subi r30,lo8(-(Poti))
 1801 11d2 F040                 sbci r31,hi8(-(Poti))
 1802 11d4 8081                 ld r24,Z
 1803                   .L281:
 1804 11d6 8093 0000            sts Parameter_Hoehe_GPS_Z,r24
 1805 11da 8091 0000            lds r24,EE_Parameter+29
 1806 11de 883F                 cpi r24,lo8(-8)
 1807 11e0 00F0                 brlo .L282
 1808 11e2 EFEF                 ldi r30,lo8(255)
 1809 11e4 F0E0                 ldi r31,hi8(255)
 1810 11e6 E81B                 sub r30,r24
 1811 11e8 F109                 sbc r31,__zero_reg__
 1812 11ea E050                 subi r30,lo8(-(Poti))
 1813 11ec F040                 sbci r31,hi8(-(Poti))
 1814 11ee 8081                 ld r24,Z
 1815                   .L282:
 1816 11f0 8093 0000            sts Parameter_KompassWirkung,r24
 1817 11f4 8091 0000            lds r24,EE_Parameter+31
 1818 11f8 883F                 cpi r24,lo8(-8)
 1819 11fa 00F0                 brlo .L283
 1820 11fc EFEF                 ldi r30,lo8(255)
 1821 11fe F0E0                 ldi r31,hi8(255)
 1822 1200 E81B                 sub r30,r24
 1823 1202 F109                 sbc r31,__zero_reg__
 1824 1204 E050                 subi r30,lo8(-(Poti))
 1825 1206 F040                 sbci r31,hi8(-(Poti))
 1826 1208 8081                 ld r24,Z
 1827                   .L283:
 1828 120a 8093 0000            sts Parameter_Gyro_I,r24
 1829 120e 8091 0000            lds r24,EE_Parameter+32
 1830 1212 883F                 cpi r24,lo8(-8)
 1831 1214 00F0                 brlo .L284
 1832 1216 EFEF                 ldi r30,lo8(255)
 1833 1218 F0E0                 ldi r31,hi8(255)
 1834 121a E81B                 sub r30,r24
 1835 121c F109                 sbc r31,__zero_reg__
 1836 121e E050                 subi r30,lo8(-(Poti))
 1837 1220 F040                 sbci r31,hi8(-(Poti))
 1838 1222 8081                 ld r24,Z
 1839                   .L284:
 1840 1224 8093 0000            sts Parameter_Gyro_D,r24
 1841 1228 8091 0000            lds r24,EE_Parameter+33
 1842 122c 883F                 cpi r24,lo8(-8)
 1843 122e 00F0                 brlo .L285
 1844 1230 EFEF                 ldi r30,lo8(255)
 1845 1232 F0E0                 ldi r31,hi8(255)
 1846 1234 E81B                 sub r30,r24
 1847 1236 F109                 sbc r31,__zero_reg__
 1848 1238 E050                 subi r30,lo8(-(Poti))
 1849 123a F040                 sbci r31,hi8(-(Poti))
 1850 123c 8081                 ld r24,Z
 1851                   .L285:
 1852 123e 8093 0000            sts Parameter_Gyro_Gier_P,r24
 1853 1242 8091 0000            lds r24,EE_Parameter+34
 1854 1246 883F                 cpi r24,lo8(-8)
 1855 1248 00F0                 brlo .L286
 1856 124a EFEF                 ldi r30,lo8(255)
 1857 124c F0E0                 ldi r31,hi8(255)
 1858 124e E81B                 sub r30,r24
 1859 1250 F109                 sbc r31,__zero_reg__
 1860 1252 E050                 subi r30,lo8(-(Poti))
 1861 1254 F040                 sbci r31,hi8(-(Poti))
 1862 1256 8081                 ld r24,Z
 1863                   .L286:
 1864 1258 8093 0000            sts Parameter_Gyro_Gier_I,r24
 1865 125c 8091 0000            lds r24,EE_Parameter+40
 1866 1260 883F                 cpi r24,lo8(-8)
 1867 1262 00F0                 brlo .L287
 1868 1264 EFEF                 ldi r30,lo8(255)
 1869 1266 F0E0                 ldi r31,hi8(255)
 1870 1268 E81B                 sub r30,r24
 1871 126a F109                 sbc r31,__zero_reg__
 1872 126c E050                 subi r30,lo8(-(Poti))
 1873 126e F040                 sbci r31,hi8(-(Poti))
 1874 1270 8081                 ld r24,Z
 1875                   .L287:
 1876 1272 8093 0000            sts Parameter_I_Faktor,r24
 1877 1276 8091 0000            lds r24,EE_Parameter+41
 1878 127a 883F                 cpi r24,lo8(-8)
 1879 127c 00F0                 brlo .L288
 1880 127e EFEF                 ldi r30,lo8(255)
 1881 1280 F0E0                 ldi r31,hi8(255)
 1882 1282 E81B                 sub r30,r24
 1883 1284 F109                 sbc r31,__zero_reg__
 1884 1286 E050                 subi r30,lo8(-(Poti))
 1885 1288 F040                 sbci r31,hi8(-(Poti))
 1886 128a 8081                 ld r24,Z
 1887                   .L288:
 1888 128c 8093 0000            sts Parameter_UserParam1,r24
 1889 1290 8091 0000            lds r24,EE_Parameter+42
 1890 1294 883F                 cpi r24,lo8(-8)
 1891 1296 00F0                 brlo .L289
 1892 1298 EFEF                 ldi r30,lo8(255)
 1893 129a F0E0                 ldi r31,hi8(255)
 1894 129c E81B                 sub r30,r24
 1895 129e F109                 sbc r31,__zero_reg__
 1896 12a0 E050                 subi r30,lo8(-(Poti))
 1897 12a2 F040                 sbci r31,hi8(-(Poti))
 1898 12a4 8081                 ld r24,Z
 1899                   .L289:
 1900 12a6 8093 0000            sts Parameter_UserParam2,r24
 1901 12aa 8091 0000            lds r24,EE_Parameter+43
 1902 12ae 883F                 cpi r24,lo8(-8)
 1903 12b0 00F0                 brlo .L290
 1904 12b2 EFEF                 ldi r30,lo8(255)
 1905 12b4 F0E0                 ldi r31,hi8(255)
 1906 12b6 E81B                 sub r30,r24
 1907 12b8 F109                 sbc r31,__zero_reg__
 1908 12ba E050                 subi r30,lo8(-(Poti))
 1909 12bc F040                 sbci r31,hi8(-(Poti))
 1910 12be 8081                 ld r24,Z
 1911                   .L290:
 1912 12c0 8093 0000            sts Parameter_UserParam3,r24
 1913 12c4 8091 0000            lds r24,EE_Parameter+44
 1914 12c8 883F                 cpi r24,lo8(-8)
 1915 12ca 00F0                 brlo .L291
 1916 12cc EFEF                 ldi r30,lo8(255)
 1917 12ce F0E0                 ldi r31,hi8(255)
 1918 12d0 E81B                 sub r30,r24
 1919 12d2 F109                 sbc r31,__zero_reg__
 1920 12d4 E050                 subi r30,lo8(-(Poti))
 1921 12d6 F040                 sbci r31,hi8(-(Poti))
 1922 12d8 8081                 ld r24,Z
 1923                   .L291:
 1924 12da 8093 0000            sts Parameter_UserParam4,r24
 1925 12de 8091 0000            lds r24,EE_Parameter+70
 1926 12e2 883F                 cpi r24,lo8(-8)
 1927 12e4 00F0                 brlo .L292
 1928 12e6 EFEF                 ldi r30,lo8(255)
 1929 12e8 F0E0                 ldi r31,hi8(255)
 1930 12ea E81B                 sub r30,r24
 1931 12ec F109                 sbc r31,__zero_reg__
 1932 12ee E050                 subi r30,lo8(-(Poti))
 1933 12f0 F040                 sbci r31,hi8(-(Poti))
 1934 12f2 8081                 ld r24,Z
 1935                   .L292:
 1936 12f4 8093 0000            sts Parameter_UserParam5,r24
 1937 12f8 8091 0000            lds r24,EE_Parameter+71
 1938 12fc 883F                 cpi r24,lo8(-8)
 1939 12fe 00F0                 brlo .L293
 1940 1300 EFEF                 ldi r30,lo8(255)
 1941 1302 F0E0                 ldi r31,hi8(255)
 1942 1304 E81B                 sub r30,r24
 1943 1306 F109                 sbc r31,__zero_reg__
 1944 1308 E050                 subi r30,lo8(-(Poti))
 1945 130a F040                 sbci r31,hi8(-(Poti))
 1946 130c 8081                 ld r24,Z
 1947                   .L293:
 1948 130e 8093 0000            sts Parameter_UserParam6,r24
 1949 1312 8091 0000            lds r24,EE_Parameter+72
 1950 1316 883F                 cpi r24,lo8(-8)
 1951 1318 00F0                 brlo .L294
 1952 131a EFEF                 ldi r30,lo8(255)
 1953 131c F0E0                 ldi r31,hi8(255)
 1954 131e E81B                 sub r30,r24
 1955 1320 F109                 sbc r31,__zero_reg__
 1956 1322 E050                 subi r30,lo8(-(Poti))
 1957 1324 F040                 sbci r31,hi8(-(Poti))
 1958 1326 8081                 ld r24,Z
 1959                   .L294:
 1960 1328 8093 0000            sts Parameter_UserParam7,r24
 1961 132c 8091 0000            lds r24,EE_Parameter+73
 1962 1330 883F                 cpi r24,lo8(-8)
 1963 1332 00F0                 brlo .L295
 1964 1334 EFEF                 ldi r30,lo8(255)
 1965 1336 F0E0                 ldi r31,hi8(255)
 1966 1338 E81B                 sub r30,r24
 1967 133a F109                 sbc r31,__zero_reg__
 1968 133c E050                 subi r30,lo8(-(Poti))
 1969 133e F040                 sbci r31,hi8(-(Poti))
 1970 1340 8081                 ld r24,Z
 1971                   .L295:
 1972 1342 8093 0000            sts Parameter_UserParam8,r24
 1973 1346 8091 0000            lds r24,EE_Parameter+45
 1974 134a 883F                 cpi r24,lo8(-8)
 1975 134c 00F0                 brlo .L296
 1976 134e EFEF                 ldi r30,lo8(255)
 1977 1350 F0E0                 ldi r31,hi8(255)
 1978 1352 E81B                 sub r30,r24
 1979 1354 F109                 sbc r31,__zero_reg__
 1980 1356 E050                 subi r30,lo8(-(Poti))
 1981 1358 F040                 sbci r31,hi8(-(Poti))
 1982 135a 8081                 ld r24,Z
 1983                   .L296:
 1984 135c 8093 0000            sts Parameter_ServoNickControl,r24
 1985 1360 8091 0000            lds r24,EE_Parameter+49
 1986 1364 883F                 cpi r24,lo8(-8)
 1987 1366 00F0                 brlo .L297
 1988 1368 EFEF                 ldi r30,lo8(255)
 1989 136a F0E0                 ldi r31,hi8(255)
 1990 136c E81B                 sub r30,r24
 1991 136e F109                 sbc r31,__zero_reg__
 1992 1370 E050                 subi r30,lo8(-(Poti))
 1993 1372 F040                 sbci r31,hi8(-(Poti))
 1994 1374 8081                 ld r24,Z
 1995                   .L297:
 1996 1376 8093 0000            sts Parameter_ServoRollControl,r24
 1997 137a 8091 0000            lds r24,EE_Parameter+59
 1998 137e 883F                 cpi r24,lo8(-8)
 1999 1380 00F0                 brlo .L298
 2000 1382 EFEF                 ldi r30,lo8(255)
 2001 1384 F0E0                 ldi r31,hi8(255)
 2002 1386 E81B                 sub r30,r24
 2003 1388 F109                 sbc r31,__zero_reg__
 2004 138a E050                 subi r30,lo8(-(Poti))
 2005 138c F040                 sbci r31,hi8(-(Poti))
 2006 138e 8081                 ld r24,Z
 2007                   .L298:
 2008 1390 8093 0000            sts Parameter_LoopGasLimit,r24
 2009 1394 8091 0000            lds r24,EE_Parameter+62
 2010 1398 883F                 cpi r24,lo8(-8)
 2011 139a 00F0                 brlo .L299
 2012 139c EFEF                 ldi r30,lo8(255)
 2013 139e F0E0                 ldi r31,hi8(255)
 2014 13a0 E81B                 sub r30,r24
 2015 13a2 F109                 sbc r31,__zero_reg__
 2016 13a4 E050                 subi r30,lo8(-(Poti))
 2017 13a6 F040                 sbci r31,hi8(-(Poti))
 2018 13a8 8081                 ld r24,Z
 2019                   .L299:
 2020 13aa 8093 0000            sts Parameter_AchsKopplung1,r24
 2021 13ae 8091 0000            lds r24,EE_Parameter+63
 2022 13b2 883F                 cpi r24,lo8(-8)
 2023 13b4 00F0                 brlo .L300
 2024 13b6 EFEF                 ldi r30,lo8(255)
 2025 13b8 F0E0                 ldi r31,hi8(255)
 2026 13ba E81B                 sub r30,r24
 2027 13bc F109                 sbc r31,__zero_reg__
 2028 13be E050                 subi r30,lo8(-(Poti))
 2029 13c0 F040                 sbci r31,hi8(-(Poti))
 2030 13c2 8081                 ld r24,Z
 2031                   .L300:
 2032 13c4 8093 0000            sts Parameter_AchsKopplung2,r24
 2033 13c8 8091 0000            lds r24,EE_Parameter+64
 2034 13cc 883F                 cpi r24,lo8(-8)
 2035 13ce 00F0                 brlo .L301
 2036 13d0 EFEF                 ldi r30,lo8(255)
 2037 13d2 F0E0                 ldi r31,hi8(255)
 2038 13d4 E81B                 sub r30,r24
 2039 13d6 F109                 sbc r31,__zero_reg__
 2040 13d8 E050                 subi r30,lo8(-(Poti))
 2041 13da F040                 sbci r31,hi8(-(Poti))
 2042 13dc 8081                 ld r24,Z
 2043                   .L301:
 2044 13de 8093 0000            sts Parameter_CouplingYawCorrection,r24
 2045 13e2 8091 0000            lds r24,EE_Parameter+69
 2046 13e6 883F                 cpi r24,lo8(-8)
 2047 13e8 00F0                 brlo .L302
 2048 13ea EFEF                 ldi r30,lo8(255)
 2049 13ec F0E0                 ldi r31,hi8(255)
 2050 13ee E81B                 sub r30,r24
 2051 13f0 F109                 sbc r31,__zero_reg__
 2052 13f2 E050                 subi r30,lo8(-(Poti))
 2053 13f4 F040                 sbci r31,hi8(-(Poti))
 2054 13f6 8081                 ld r24,Z
 2055                   .L302:
 2056 13f8 8093 0000            sts Parameter_DynamicStability,r24
 2057 13fc 8091 0000            lds r24,EE_Parameter+96
 2058 1400 883F                 cpi r24,lo8(-8)
 2059 1402 00F0                 brlo .L303
 2060 1404 EFEF                 ldi r30,lo8(255)
 2061 1406 F0E0                 ldi r31,hi8(255)
 2062 1408 E81B                 sub r30,r24
 2063 140a F109                 sbc r31,__zero_reg__
 2064 140c E050                 subi r30,lo8(-(Poti))
 2065 140e F040                 sbci r31,hi8(-(Poti))
 2066 1410 8081                 ld r24,Z
 2067                   .L303:
 2068 1412 8093 0000            sts Parameter_ExternalControl,r24
 2069 1416 6091 0000            lds r22,Parameter_I_Faktor
 2070 141a 70E0                 ldi r23,lo8(0)
 2071 141c 6F5F                 subi r22,lo8(-(1))
 2072 141e 7F4F                 sbci r23,hi8(-(1))
 2073 1420 8CE3                 ldi r24,lo8(10300)
 2074 1422 98E2                 ldi r25,hi8(10300)
 2075 1424 0E94 0000            call __divmodhi4
 2076 1428 7093 0000            sts (Ki)+1,r23
 2077 142c 6093 0000            sts Ki,r22
 2078 1430 8091 0000            lds r24,EE_Parameter+27
 2079 1434 8093 0000            sts MAX_GAS,r24
 2080 1438 8091 0000            lds r24,EE_Parameter+26
 2081 143c 8093 0000            sts MIN_GAS,r24
 2082 1440 9091 0000            lds r25,EE_Parameter+98
 2083 1444 9333                 cpi r25,lo8(51)
 2084 1446 00F0                 brlo .L247
 2085 1448 81E0                 ldi r24,lo8(1)
 2086 144a 8093 0000            sts CareFree,r24
 2087 144e 983F                 cpi r25,lo8(-8)
 2088 1450 00F0                 brlo .L249
 2089 1452 EFEF                 ldi r30,lo8(255)
 2090 1454 F0E0                 ldi r31,hi8(255)
 2091 1456 E91B                 sub r30,r25
 2092 1458 F109                 sbc r31,__zero_reg__
 2093 145a E050                 subi r30,lo8(-(Poti))
 2094 145c F040                 sbci r31,hi8(-(Poti))
 2095 145e 8081                 ld r24,Z
 2096 1460 8233                 cpi r24,lo8(50)
 2097 1462 00F4                 brsh .L249
 2098 1464 1092 0000            sts CareFree,__zero_reg__
 2099                   .L249:
 2100 1468 8091 0000            lds r24,FromNaviCtrl+7
 2101 146c 9091 0000            lds r25,(FromNaviCtrl+7)+1
 2102 1470 97FF                 sbrs r25,7
 2103 1472 00C0                 rjmp .L252
 2104 1474 8091 0000            lds r24,CareFree
 2105 1478 8823                 tst r24
 2106 147a 01F0                 breq .L252
 2107 147c 8091 0000            lds r24,VersionInfo+5
 2108 1480 8068                 ori r24,lo8(-128)
 2109 1482 00C0                 rjmp .L304
 2110                   .L252:
 2111 1484 8091 0000            lds r24,VersionInfo+5
 2112 1488 8F77                 andi r24,lo8(127)
 2113                   .L304:
 2114 148a 8093 0000            sts VersionInfo+5,r24
 2115 148e 00C0                 rjmp .L255
 2116                   .L247:
 2117 1490 1092 0000            sts CareFree,__zero_reg__
 2118                   .L255:
 2119 1494 8091 0000            lds r24,FromNaviCtrl+7
 2120 1498 9091 0000            lds r25,(FromNaviCtrl+7)+1
 2121 149c 97FF                 sbrs r25,7
 2122 149e 00C0                 rjmp .L256
 2123 14a0 8091 0000            lds r24,MotorenEin
 2124 14a4 8823                 tst r24
 2125 14a6 01F0                 breq .L256
 2126 14a8 8091 0000            lds r24,CareFree
 2127 14ac 8823                 tst r24
 2128 14ae 01F0                 breq .L256
 2129 14b0 8091 0000            lds r24,BeepMuster
 2130 14b4 9091 0000            lds r25,(BeepMuster)+1
 2131 14b8 8F5F                 subi r24,lo8(-1)
 2132 14ba 9F4F                 sbci r25,hi8(-1)
 2133 14bc 01F4                 brne .L256
 2134 14be 88E9                 ldi r24,lo8(15000)
 2135 14c0 9AE3                 ldi r25,hi8(15000)
 2136 14c2 9093 0000            sts (beeptime)+1,r25
 2137 14c6 8093 0000            sts beeptime,r24
 2138 14ca 80E0                 ldi r24,lo8(-23552)
 2139 14cc 94EA                 ldi r25,hi8(-23552)
 2140 14ce 9093 0000            sts (BeepMuster)+1,r25
 2141 14d2 8093 0000            sts BeepMuster,r24
 2142 14d6 1092 0000            sts CareFree,__zero_reg__
 2143                   .L256:
 2144 14da 8091 0000            lds r24,CareFree
 2145 14de 8823                 tst r24
 2146 14e0 01F0                 breq .L264
 2147 14e2 8091 0000            lds r24,Parameter_AchsKopplung1
 2148 14e6 823D                 cpi r24,lo8(-46)
 2149 14e8 00F4                 brsh .L264
 2150 14ea 825E                 subi r24,lo8(-(30))
 2151 14ec 8093 0000            sts Parameter_AchsKopplung1,r24
 2152                   .L264:
 2153                   /* epilogue: frame size=0 */
 2154 14f0 DF91                 pop r29
 2155 14f2 CF91                 pop r28
 2156 14f4 1F91                 pop r17
 2157 14f6 0F91                 pop r16
 2158 14f8 0895                 ret
 2159                   /* epilogue end (size=5) */
 2160                   /* function ParameterZuordnung size 660 (651) */
 2162                   .global CalibrierMittelwert
 2164                   CalibrierMittelwert:
 2165                   /* prologue: frame size=0 */
 2166 14fa CF93                 push r28
 2167 14fc DF93                 push r29
 2168                   /* prologue end (size=2) */
 2169 14fe 8091 0000            lds r24,PlatinenVersion
 2170 1502 8D30                 cpi r24,lo8(13)
 2171 1504 01F4                 brne .L306
 2172 1506 0E94 0000            call SucheGyroOffset
 2173                   .L306:
 2174 150a 1092 7A00            sts 122,__zero_reg__
 2175 150e 8091 0000            lds r24,AdWertNick
 2176 1512 9091 0000            lds r25,(AdWertNick)+1
 2177 1516 9093 0000            sts (MesswertNick)+1,r25
 2178 151a 8093 0000            sts MesswertNick,r24
 2179 151e 8091 0000            lds r24,AdWertRoll
 2180 1522 9091 0000            lds r25,(AdWertRoll)+1
 2181 1526 9093 0000            sts (MesswertRoll)+1,r25
 2182 152a 8093 0000            sts MesswertRoll,r24
 2183 152e 8091 0000            lds r24,AdWertGier
 2184 1532 9091 0000            lds r25,(AdWertGier)+1
 2185 1536 9093 0000            sts (MesswertGier)+1,r25
 2186 153a 8093 0000            sts MesswertGier,r24
 2187 153e 2091 0000            lds r18,AdWertAccNick
 2188 1542 3091 0000            lds r19,(AdWertAccNick)+1
 2189 1546 C901                 movw r24,r18
 2190 1548 880F                 lsl r24
 2191 154a 991F                 rol r25
 2192 154c 820F                 add r24,r18
 2193 154e 931F                 adc r25,r19
 2194 1550 880F                 lsl r24
 2195 1552 991F                 rol r25
 2196 1554 9093 0000            sts (Mittelwert_AccNick)+1,r25
 2197 1558 8093 0000            sts Mittelwert_AccNick,r24
 2198 155c 2091 0000            lds r18,AdWertAccRoll
 2199 1560 3091 0000            lds r19,(AdWertAccRoll)+1
 2200 1564 C901                 movw r24,r18
 2201 1566 880F                 lsl r24
 2202 1568 991F                 rol r25
 2203 156a 820F                 add r24,r18
 2204 156c 931F                 adc r25,r19
 2205 156e 880F                 lsl r24
 2206 1570 991F                 rol r25
 2207 1572 9093 0000            sts (Mittelwert_AccRoll)+1,r25
 2208 1576 8093 0000            sts Mittelwert_AccRoll,r24
 2209 157a 8FEC                 ldi r24,lo8(-49)
 2210 157c 8093 7A00            sts 122,r24
 2211 1580 C0E0                 ldi r28,lo8(EE_Parameter+5)
 2212 1582 D0E0                 ldi r29,hi8(EE_Parameter+5)
 2213 1584 A0E0                 ldi r26,lo8(Poti)
 2214 1586 B0E0                 ldi r27,hi8(Poti)
 2215                   .L308:
 2216 1588 E881                 ld r30,Y
 2217 158a F0E0                 ldi r31,lo8(0)
 2218 158c EE0F                 lsl r30
 2219 158e FF1F                 rol r31
 2220 1590 E050                 subi r30,lo8(-(PPM_in))
 2221 1592 F040                 sbci r31,hi8(-(PPM_in))
 2222 1594 0190                 ld __tmp_reg__,Z+
 2223 1596 F081                 ld r31,Z
 2224 1598 E02D                 mov r30,__tmp_reg__
 2225 159a E259                 subi r30,lo8(-(110))
 2226 159c FF4F                 sbci r31,hi8(-(110))
 2227 159e 1E16                 cp __zero_reg__,r30
 2228 15a0 1F06                 cpc __zero_reg__,r31
 2229 15a2 04F0                 brlt .L309
 2230 15a4 E0E0                 ldi r30,lo8(0)
 2231 15a6 F0E0                 ldi r31,hi8(0)
 2232 15a8 00C0                 rjmp .L311
 2233                   .L309:
 2234 15aa EF3F                 cpi r30,255
 2235 15ac F105                 cpc r31,__zero_reg__
 2236 15ae 04F0                 brlt .L311
 2237 15b0 EFEF                 ldi r30,lo8(255)
 2238 15b2 F0E0                 ldi r31,hi8(255)
 2239                   .L311:
 2240 15b4 8C91                 ld r24,X
 2241 15b6 282F                 mov r18,r24
 2242 15b8 30E0                 ldi r19,lo8(0)
 2243 15ba E217                 cp r30,r18
 2244 15bc F307                 cpc r31,r19
 2245 15be 04F4                 brge .L313
 2246 15c0 8150                 subi r24,lo8(-(-1))
 2247 15c2 00C0                 rjmp .L321
 2248                   .L313:
 2249 15c4 2E17                 cp r18,r30
 2250 15c6 3F07                 cpc r19,r31
 2251 15c8 04F4                 brge .L315
 2252 15ca 8F5F                 subi r24,lo8(-(1))
 2253                   .L321:
 2254 15cc 8C93                 st X,r24
 2255                   .L315:
 2256 15ce 2196                 adiw r28,1
 2257 15d0 1196                 adiw r26,1
 2258 15d2 80E0                 ldi r24,hi8(EE_Parameter+13)
 2259 15d4 C030                 cpi r28,lo8(EE_Parameter+13)
 2260 15d6 D807                 cpc r29,r24
 2261 15d8 01F4                 brne .L308
 2262 15da 6091 0000            lds r22,EE_Parameter+65
 2263 15de 70E0                 ldi r23,lo8(0)
 2264 15e0 80E0                 ldi r24,lo8(0)
 2265 15e2 90E0                 ldi r25,hi8(0)
 2266 15e4 24EC                 ldi r18,lo8(2500)
 2267 15e6 39E0                 ldi r19,hi8(2500)
 2268 15e8 40E0                 ldi r20,hlo8(2500)
 2269 15ea 50E0                 ldi r21,hhi8(2500)
 2270 15ec 0E94 0000            call __mulsi3
 2271 15f0 6093 0000            sts Umschlag180Nick,r22
 2272 15f4 7093 0000            sts (Umschlag180Nick)+1,r23
 2273 15f8 8093 0000            sts (Umschlag180Nick)+2,r24
 2274 15fc 9093 0000            sts (Umschlag180Nick)+3,r25
 2275 1600 6091 0000            lds r22,EE_Parameter+66
 2276 1604 70E0                 ldi r23,lo8(0)
 2277 1606 80E0                 ldi r24,lo8(0)
 2278 1608 90E0                 ldi r25,hi8(0)
 2279 160a 0E94 0000            call __mulsi3
 2280 160e 6093 0000            sts Umschlag180Roll,r22
 2281 1612 7093 0000            sts (Umschlag180Roll)+1,r23
 2282 1616 8093 0000            sts (Umschlag180Roll)+2,r24
 2283 161a 9093 0000            sts (Umschlag180Roll)+3,r25
 2284                   /* epilogue: frame size=0 */
 2285 161e DF91                 pop r29
 2286 1620 CF91                 pop r28
 2287 1622 0895                 ret
 2288                   /* epilogue end (size=3) */
 2289                   /* function CalibrierMittelwert size 149 (144) */
 2291                   .global SetNeutral
 2293                   SetNeutral:
 2294                   /* prologue: frame size=0 */
 2295 1624 A0E0                 ldi r26,lo8(0)
 2296 1626 B0E0                 ldi r27,hi8(0)
 2297 1628 E0E0                 ldi r30,pm_lo8(1f)
 2298 162a F0E0                 ldi r31,pm_hi8(1f)
 2299 162c 0C94 0000            jmp __prologue_saves__+8
 2300                   1:
 2301                   /* prologue end (size=6) */
 2302 1630 682E                 mov r6,r24
 2303 1632 1092 0000            sts VersionInfo+5,__zero_reg__
 2304 1636 469A                 sbi 40-0x20,6
 2305 1638 1092 0000            sts (NeutralAccX)+1,__zero_reg__
 2306 163c 1092 0000            sts NeutralAccX,__zero_reg__
 2307 1640 1092 0000            sts (NeutralAccY)+1,__zero_reg__
 2308 1644 1092 0000            sts NeutralAccY,__zero_reg__
 2309 1648 1092 0000            sts (NeutralAccZ)+1,__zero_reg__
 2310 164c 1092 0000            sts NeutralAccZ,__zero_reg__
 2311 1650 1092 0000            sts (AdNeutralNick)+1,__zero_reg__
 2312 1654 1092 0000            sts AdNeutralNick,__zero_reg__
 2313 1658 1092 0000            sts (AdNeutralRoll)+1,__zero_reg__
 2314 165c 1092 0000            sts AdNeutralRoll,__zero_reg__
 2315 1660 1092 0000            sts (AdNeutralGier)+1,__zero_reg__
 2316 1664 1092 0000            sts AdNeutralGier,__zero_reg__
 2317 1668 1092 0000            sts Parameter_AchsKopplung1,__zero_reg__
 2318 166c 1092 0000            sts Parameter_AchsKopplung2,__zero_reg__
 2319 1670 1092 0000            sts ExpandBaro,__zero_reg__
 2320 1674 0E94 0000            call CalibrierMittelwert
 2321 1678 84E6                 ldi r24,lo8(100)
 2322 167a 90E0                 ldi r25,hi8(100)
 2323 167c 0E94 0000            call Delay_ms_Mess
 2324 1680 0E94 0000            call CalibrierMittelwert
 2325 1684 8091 0000            lds r24,EE_Parameter+13
 2326 1688 80FF                 sbrs r24,0
 2327 168a 00C0                 rjmp .L323
 2328 168c 8091 0000            lds r24,MessLuftdruck
 2329 1690 9091 0000            lds r25,(MessLuftdruck)+1
 2330 1694 875B                 subi r24,lo8(951)
 2331 1696 9340                 sbci r25,hi8(951)
 2332 1698 00F4                 brsh .L325
 2333 169a 8091 0000            lds r24,MessLuftdruck
 2334 169e 9091 0000            lds r25,(MessLuftdruck)+1
 2335 16a2 8E5E                 subi r24,lo8(750)
 2336 16a4 9240                 sbci r25,hi8(750)
 2337 16a6 00F4                 brsh .L323
 2338                   .L325:
 2339 16a8 0E94 0000            call SucheLuftruckOffset
 2340                   .L323:
 2341 16ac AA24                 clr r10
 2342 16ae C0E0                 ldi r28,lo8(0)
 2343 16b0 D0E0                 ldi r29,hi8(0)
 2344 16b2 00E0                 ldi r16,lo8(0)
 2345 16b4 10E0                 ldi r17,hi8(0)
 2346 16b6 EE24                 clr r14
 2347 16b8 FF24                 clr r15
 2348                   .L327:
 2349 16ba 8AE0                 ldi r24,lo8(10)
 2350 16bc 90E0                 ldi r25,hi8(10)
 2351 16be 0E94 0000            call Delay_ms_Mess
 2352 16c2 8091 0000            lds r24,AdWertGier
 2353 16c6 9091 0000            lds r25,(AdWertGier)+1
 2354 16ca C80F                 add r28,r24
 2355 16cc D91F                 adc r29,r25
 2356 16ce 8091 0000            lds r24,AdWertNick
 2357 16d2 9091 0000            lds r25,(AdWertNick)+1
 2358 16d6 080F                 add r16,r24
 2359 16d8 191F                 adc r17,r25
 2360 16da 8091 0000            lds r24,AdWertRoll
 2361 16de 9091 0000            lds r25,(AdWertRoll)+1
 2362 16e2 E80E                 add r14,r24
 2363 16e4 F91E                 adc r15,r25
 2364 16e6 A394                 inc r10
 2365 16e8 80E2                 ldi r24,lo8(32)
 2366 16ea A816                 cp r10,r24
 2367 16ec 01F4                 brne .L327
 2368 16ee 9801                 movw r18,r16
 2369 16f0 205F                 subi r18,lo8(-(16))
 2370 16f2 3F4F                 sbci r19,hi8(-(16))
 2371 16f4 3695                 lsr r19
 2372 16f6 2795                 ror r18
 2373 16f8 3695                 lsr r19
 2374 16fa 2795                 ror r18
 2375 16fc 3093 0000            sts (AdNeutralNick)+1,r19
 2376 1700 2093 0000            sts AdNeutralNick,r18
 2377 1704 C701                 movw r24,r14
 2378 1706 4096                 adiw r24,16
 2379 1708 9695                 lsr r25
 2380 170a 8795                 ror r24
 2381 170c 9695                 lsr r25
 2382 170e 8795                 ror r24
 2383 1710 9093 0000            sts (AdNeutralRoll)+1,r25
 2384 1714 8093 0000            sts AdNeutralRoll,r24
 2385 1718 6096                 adiw r28,16
 2386 171a 15E0                 ldi r17,5
 2387 171c D695         1:      lsr r29
 2388 171e C795                 ror r28
 2389 1720 1A95                 dec r17
 2390 1722 01F4                 brne 1b
 2391 1724 D093 0000            sts (AdNeutralGier)+1,r29
 2392 1728 C093 0000            sts AdNeutralGier,r28
 2393 172c 9093 0000            sts (StartNeutralRoll)+1,r25
 2394 1730 8093 0000            sts StartNeutralRoll,r24
 2395 1734 3093 0000            sts (StartNeutralNick)+1,r19
 2396 1738 2093 0000            sts StartNeutralNick,r18
 2397 173c 6620                 tst r6
 2398 173e 01F4                 brne .+2
 2399 1740 00C0                 rjmp .L329
 2400 1742 8091 0000            lds r24,Mittelwert_AccNick
 2401 1746 9091 0000            lds r25,(Mittelwert_AccNick)+1
 2402 174a 97FF                 sbrs r25,7
 2403 174c 00C0                 rjmp .L331
 2404 174e 9095                 com r25
 2405 1750 8195                 neg r24
 2406 1752 9F4F                 sbci r25,lo8(-1)
 2407                   .L331:
 2408 1754 6CE0                 ldi r22,lo8(12)
 2409 1756 70E0                 ldi r23,hi8(12)
 2410 1758 0E94 0000            call __divmodhi4
 2411 175c 9B01                 movw r18,r22
 2412 175e 7093 0000            sts (NeutralAccX)+1,r23
 2413 1762 6093 0000            sts NeutralAccX,r22
 2414 1766 8091 0000            lds r24,Mittelwert_AccRoll
 2415 176a 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 2416 176e 97FF                 sbrs r25,7
 2417 1770 00C0                 rjmp .L332
 2418 1772 9095                 com r25
 2419 1774 8195                 neg r24
 2420 1776 9F4F                 sbci r25,lo8(-1)
 2421                   .L332:
 2422 1778 6CE0                 ldi r22,lo8(12)
 2423 177a 70E0                 ldi r23,hi8(12)
 2424 177c 0E94 0000            call __divmodhi4
 2425 1780 7093 0000            sts (NeutralAccY)+1,r23
 2426 1784 6093 0000            sts NeutralAccY,r22
 2427 1788 8091 0000            lds r24,Aktuell_az
 2428 178c 9091 0000            lds r25,(Aktuell_az)+1
 2429 1790 9093 0000            sts (NeutralAccZ)+1,r25
 2430 1794 8093 0000            sts NeutralAccZ,r24
 2431 1798 B901                 movw r22,r18
 2432 179a 84E0                 ldi r24,lo8(4)
 2433 179c 90E0                 ldi r25,hi8(4)
 2434 179e 0E94 0000            call SetParamWord
 2435 17a2 6091 0000            lds r22,NeutralAccY
 2436 17a6 7091 0000            lds r23,(NeutralAccY)+1
 2437 17aa 86E0                 ldi r24,lo8(6)
 2438 17ac 90E0                 ldi r25,hi8(6)
 2439 17ae 0E94 0000            call SetParamWord
 2440 17b2 6091 0000            lds r22,NeutralAccZ
 2441 17b6 7091 0000            lds r23,(NeutralAccZ)+1
 2442 17ba 88E0                 ldi r24,lo8(8)
 2443 17bc 90E0                 ldi r25,hi8(8)
 2444 17be 0E94 0000            call SetParamWord
 2445 17c2 00C0                 rjmp .L333
 2446                   .L329:
 2447 17c4 84E0                 ldi r24,lo8(4)
 2448 17c6 90E0                 ldi r25,hi8(4)
 2449 17c8 0E94 0000            call GetParamWord
 2450 17cc 9093 0000            sts (NeutralAccX)+1,r25
 2451 17d0 8093 0000            sts NeutralAccX,r24
 2452 17d4 86E0                 ldi r24,lo8(6)
 2453 17d6 90E0                 ldi r25,hi8(6)
 2454 17d8 0E94 0000            call GetParamWord
 2455 17dc 9093 0000            sts (NeutralAccY)+1,r25
 2456 17e0 8093 0000            sts NeutralAccY,r24
 2457 17e4 88E0                 ldi r24,lo8(8)
 2458 17e6 90E0                 ldi r25,hi8(8)
 2459 17e8 0E94 0000            call GetParamWord
 2460 17ec 9C01                 movw r18,r24
 2461 17ee 9093 0000            sts (NeutralAccZ)+1,r25
 2462 17f2 8093 0000            sts NeutralAccZ,r24
 2463 17f6 8091 0000            lds r24,NeutralAccX
 2464 17fa 9091 0000            lds r25,(NeutralAccX)+1
 2465 17fe 8150                 subi r24,lo8(2049)
 2466 1800 9840                 sbci r25,hi8(2049)
 2467 1802 00F4                 brsh .L334
 2468 1804 8091 0000            lds r24,NeutralAccY
 2469 1808 9091 0000            lds r25,(NeutralAccY)+1
 2470 180c 8150                 subi r24,lo8(2049)
 2471 180e 9840                 sbci r25,hi8(2049)
 2472 1810 00F4                 brsh .L334
 2473 1812 2150                 subi r18,lo8(1025)
 2474 1814 3440                 sbci r19,hi8(1025)
 2475 1816 00F0                 brlo .L333
 2476                   .L334:
 2477 1818 E091 0000            lds r30,_printf_P
 2478 181c F091 0000            lds r31,(_printf_P)+1
 2479 1820 80E0                 ldi r24,lo8(__c.2753)
 2480 1822 90E0                 ldi r25,hi8(__c.2753)
 2481 1824 9F93                 push r25
 2482 1826 8F93                 push r24
 2483 1828 80E0                 ldi r24,lo8(gs(uart_putchar))
 2484 182a 90E0                 ldi r25,hi8(gs(uart_putchar))
 2485 182c 9F93                 push r25
 2486 182e 8F93                 push r24
 2487 1830 0995                 icall
 2488 1832 8091 0000            lds r24,Mittelwert_AccNick
 2489 1836 9091 0000            lds r25,(Mittelwert_AccNick)+1
 2490 183a 97FF                 sbrs r25,7
 2491 183c 00C0                 rjmp .L337
 2492 183e 9095                 com r25
 2493 1840 8195                 neg r24
 2494 1842 9F4F                 sbci r25,lo8(-1)
 2495                   .L337:
 2496 1844 6CE0                 ldi r22,lo8(12)
 2497 1846 70E0                 ldi r23,hi8(12)
 2498 1848 0E94 0000            call __divmodhi4
 2499 184c 7093 0000            sts (NeutralAccX)+1,r23
 2500 1850 6093 0000            sts NeutralAccX,r22
 2501 1854 8091 0000            lds r24,Mittelwert_AccRoll
 2502 1858 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 2503 185c 97FF                 sbrs r25,7
 2504 185e 00C0                 rjmp .L338
 2505 1860 9095                 com r25
 2506 1862 8195                 neg r24
 2507 1864 9F4F                 sbci r25,lo8(-1)
 2508                   .L338:
 2509 1866 6CE0                 ldi r22,lo8(12)
 2510 1868 70E0                 ldi r23,hi8(12)
 2511 186a 0E94 0000            call __divmodhi4
 2512 186e 7093 0000            sts (NeutralAccY)+1,r23
 2513 1872 6093 0000            sts NeutralAccY,r22
 2514 1876 8091 0000            lds r24,Aktuell_az
 2515 187a 9091 0000            lds r25,(Aktuell_az)+1
 2516 187e 9093 0000            sts (NeutralAccZ)+1,r25
 2517 1882 8093 0000            sts NeutralAccZ,r24
 2518 1886 0F90                 pop __tmp_reg__
 2519 1888 0F90                 pop __tmp_reg__
 2520 188a 0F90                 pop __tmp_reg__
 2521 188c 0F90                 pop __tmp_reg__
 2522                   .L333:
 2523 188e 1092 0000            sts (MesswertNick)+1,__zero_reg__
 2524 1892 1092 0000            sts MesswertNick,__zero_reg__
 2525 1896 1092 0000            sts (MesswertRoll)+1,__zero_reg__
 2526 189a 1092 0000            sts MesswertRoll,__zero_reg__
 2527 189e 1092 0000            sts (MesswertGier)+1,__zero_reg__
 2528 18a2 1092 0000            sts MesswertGier,__zero_reg__
 2529 18a6 84E6                 ldi r24,lo8(100)
 2530 18a8 90E0                 ldi r25,hi8(100)
 2531 18aa 0E94 0000            call Delay_ms_Mess
 2532 18ae 2091 0000            lds r18,AdWertAccNick
 2533 18b2 3091 0000            lds r19,(AdWertAccNick)+1
 2534 18b6 B901                 movw r22,r18
 2535 18b8 660F                 lsl r22
 2536 18ba 771F                 rol r23
 2537 18bc 620F                 add r22,r18
 2538 18be 731F                 adc r23,r19
 2539 18c0 660F                 lsl r22
 2540 18c2 771F                 rol r23
 2541 18c4 7093 0000            sts (Mittelwert_AccNick)+1,r23
 2542 18c8 6093 0000            sts Mittelwert_AccNick,r22
 2543 18cc 2091 0000            lds r18,AdWertAccRoll
 2544 18d0 3091 0000            lds r19,(AdWertAccRoll)+1
 2545 18d4 7901                 movw r14,r18
 2546 18d6 EE0C                 lsl r14
 2547 18d8 FF1C                 rol r15
 2548 18da E20E                 add r14,r18
 2549 18dc F31E                 adc r15,r19
 2550 18de EE0C                 lsl r14
 2551 18e0 FF1C                 rol r15
 2552 18e2 F092 0000            sts (Mittelwert_AccRoll)+1,r15
 2553 18e6 E092 0000            sts Mittelwert_AccRoll,r14
 2554 18ea A090 0000            lds r10,EE_Parameter+28
 2555 18ee BB24                 clr r11
 2556 18f0 CC24                 clr r12
 2557 18f2 DD24                 clr r13
 2558 18f4 8827                 clr r24
 2559 18f6 77FD                 sbrc r23,7
 2560 18f8 8095                 com r24
 2561 18fa 982F                 mov r25,r24
 2562 18fc A601                 movw r20,r12
 2563 18fe 9501                 movw r18,r10
 2564 1900 0E94 0000            call __mulsi3
 2565 1904 3B01                 movw r6,r22
 2566 1906 4C01                 movw r8,r24
 2567 1908 6093 0000            sts IntegralNick,r22
 2568 190c 7093 0000            sts (IntegralNick)+1,r23
 2569 1910 8093 0000            sts (IntegralNick)+2,r24
 2570 1914 9093 0000            sts (IntegralNick)+3,r25
 2571 1918 0027                 clr r16
 2572 191a F7FC                 sbrc r15,7
 2573 191c 0095                 com r16
 2574 191e 102F                 mov r17,r16
 2575 1920 C801                 movw r24,r16
 2576 1922 B701                 movw r22,r14
 2577 1924 0E94 0000            call __mulsi3
 2578 1928 6093 0000            sts IntegralRoll,r22
 2579 192c 7093 0000            sts (IntegralRoll)+1,r23
 2580 1930 8093 0000            sts (IntegralRoll)+2,r24
 2581 1934 9093 0000            sts (IntegralRoll)+3,r25
 2582 1938 6092 0000            sts Mess_IntegralNick2,r6
 2583 193c 7092 0000            sts (Mess_IntegralNick2)+1,r7
 2584 1940 8092 0000            sts (Mess_IntegralNick2)+2,r8
 2585 1944 9092 0000            sts (Mess_IntegralNick2)+3,r9
 2586 1948 6093 0000            sts Mess_IntegralRoll2,r22
 2587 194c 7093 0000            sts (Mess_IntegralRoll2)+1,r23
 2588 1950 8093 0000            sts (Mess_IntegralRoll2)+2,r24
 2589 1954 9093 0000            sts (Mess_IntegralRoll2)+3,r25
 2590 1958 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 2591 195c 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 2592 1960 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 2593 1964 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 2594 1968 8091 0000            lds r24,Luftdruck
 2595 196c 9091 0000            lds r25,(Luftdruck)+1
 2596 1970 A091 0000            lds r26,(Luftdruck)+2
 2597 1974 B091 0000            lds r27,(Luftdruck)+3
 2598 1978 9093 0000            sts (StartLuftdruck)+1,r25
 2599 197c 8093 0000            sts StartLuftdruck,r24
 2600 1980 1092 0000            sts (VarioMeter)+1,__zero_reg__
 2601 1984 1092 0000            sts VarioMeter,__zero_reg__
 2602 1988 1092 0000            sts Mess_Integral_Hoch,__zero_reg__
 2603 198c 1092 0000            sts (Mess_Integral_Hoch)+1,__zero_reg__
 2604 1990 1092 0000            sts (Mess_Integral_Hoch)+2,__zero_reg__
 2605 1994 1092 0000            sts (Mess_Integral_Hoch)+3,__zero_reg__
 2606 1998 8091 0000            lds r24,KompassValue
 2607 199c 9091 0000            lds r25,(KompassValue)+1
 2608 19a0 9093 0000            sts (KompassStartwert)+1,r25
 2609 19a4 8093 0000            sts KompassStartwert,r24
 2610 19a8 0E94 0000            call GPS_Neutral
 2611 19ac 82E3                 ldi r24,lo8(50)
 2612 19ae 90E0                 ldi r25,hi8(50)
 2613 19b0 9093 0000            sts (beeptime)+1,r25
 2614 19b4 8093 0000            sts beeptime,r24
 2615 19b8 6091 0000            lds r22,EE_Parameter+65
 2616 19bc 70E0                 ldi r23,lo8(0)
 2617 19be 80E0                 ldi r24,lo8(0)
 2618 19c0 90E0                 ldi r25,hi8(0)
 2619 19c2 24EC                 ldi r18,lo8(2500)
 2620 19c4 39E0                 ldi r19,hi8(2500)
 2621 19c6 40E0                 ldi r20,hlo8(2500)
 2622 19c8 50E0                 ldi r21,hhi8(2500)
 2623 19ca 0E94 0000            call __mulsi3
 2624 19ce 6856                 subi r22,lo8(-(15000))
 2625 19d0 754C                 sbci r23,hi8(-(15000))
 2626 19d2 8F4F                 sbci r24,hlo8(-(15000))
 2627 19d4 9F4F                 sbci r25,hhi8(-(15000))
 2628 19d6 6093 0000            sts Umschlag180Nick,r22
 2629 19da 7093 0000            sts (Umschlag180Nick)+1,r23
 2630 19de 8093 0000            sts (Umschlag180Nick)+2,r24
 2631 19e2 9093 0000            sts (Umschlag180Nick)+3,r25
 2632 19e6 6091 0000            lds r22,EE_Parameter+66
 2633 19ea 70E0                 ldi r23,lo8(0)
 2634 19ec 80E0                 ldi r24,lo8(0)
 2635 19ee 90E0                 ldi r25,hi8(0)
 2636 19f0 0E94 0000            call __mulsi3
 2637 19f4 6856                 subi r22,lo8(-(15000))
 2638 19f6 754C                 sbci r23,hi8(-(15000))
 2639 19f8 8F4F                 sbci r24,hlo8(-(15000))
 2640 19fa 9F4F                 sbci r25,hhi8(-(15000))
 2641 19fc 6093 0000            sts Umschlag180Roll,r22
 2642 1a00 7093 0000            sts (Umschlag180Roll)+1,r23
 2643 1a04 8093 0000            sts (Umschlag180Roll)+2,r24
 2644 1a08 9093 0000            sts (Umschlag180Roll)+3,r25
 2645 1a0c 1092 0000            sts (ExternHoehenValue)+1,__zero_reg__
 2646 1a10 1092 0000            sts ExternHoehenValue,__zero_reg__
 2647 1a14 6091 0000            lds r22,KompassValue
 2648 1a18 7091 0000            lds r23,(KompassValue)+1
 2649 1a1c 8827                 clr r24
 2650 1a1e 77FD                 sbrc r23,7
 2651 1a20 8095                 com r24
 2652 1a22 982F                 mov r25,r24
 2653 1a24 2091 0000            lds r18,GIER_GRAD_FAKTOR
 2654 1a28 3091 0000            lds r19,(GIER_GRAD_FAKTOR)+1
 2655 1a2c 4091 0000            lds r20,(GIER_GRAD_FAKTOR)+2
 2656 1a30 5091 0000            lds r21,(GIER_GRAD_FAKTOR)+3
 2657 1a34 0E94 0000            call __mulsi3
 2658 1a38 6093 0000            sts ErsatzKompass,r22
 2659 1a3c 7093 0000            sts (ErsatzKompass)+1,r23
 2660 1a40 8093 0000            sts (ErsatzKompass)+2,r24
 2661 1a44 9093 0000            sts (ErsatzKompass)+3,r25
 2662 1a48 1092 0000            sts (GierGyroFehler)+1,__zero_reg__
 2663 1a4c 1092 0000            sts GierGyroFehler,__zero_reg__
 2664 1a50 81E0                 ldi r24,lo8(1)
 2665 1a52 8093 0000            sts SendVersionToNavi,r24
 2666 1a56 0E94 0000            call LED_Init
 2667 1a5a 8091 0000            lds r24,FC_StatusFlags
 2668 1a5e 8460                 ori r24,lo8(4)
 2669 1a60 8093 0000            sts FC_StatusFlags,r24
 2670 1a64 8FEF                 ldi r24,lo8(-1)
 2671 1a66 8093 0000            sts FromNaviCtrl_Value,r24
 2672 1a6a 1092 0000            sts FromNaviCtrl_Value+1,__zero_reg__
 2673 1a6e 80E2                 ldi r24,lo8(32)
 2674 1a70 8093 0000            sts FromNaviCtrl_Value+2,r24
 2675 1a74 A0E0                 ldi r26,lo8(EE_Parameter+5)
 2676 1a76 B0E0                 ldi r27,hi8(EE_Parameter+5)
 2677 1a78 C0E0                 ldi r28,lo8(Poti)
 2678 1a7a D0E0                 ldi r29,hi8(Poti)
 2679                   .L339:
 2680 1a7c ED91                 ld r30,X+
 2681 1a7e F0E0                 ldi r31,lo8(0)
 2682 1a80 EE0F                 lsl r30
 2683 1a82 FF1F                 rol r31
 2684 1a84 E050                 subi r30,lo8(-(PPM_in))
 2685 1a86 F040                 sbci r31,hi8(-(PPM_in))
 2686 1a88 8081                 ld r24,Z
 2687 1a8a 9181                 ldd r25,Z+1
 2688 1a8c 8259                 subi r24,lo8(-(110))
 2689 1a8e 8993                 st Y+,r24
 2690 1a90 20E0                 ldi r18,hi8(EE_Parameter+13)
 2691 1a92 A030                 cpi r26,lo8(EE_Parameter+13)
 2692 1a94 B207                 cpc r27,r18
 2693 1a96 01F4                 brne .L339
 2694 1a98 84E6                 ldi r24,lo8(100)
 2695 1a9a 8093 0000            sts SenderOkay,r24
 2696 1a9e 8091 0000            lds r24,ServoActive
 2697 1aa2 8823                 tst r24
 2698 1aa4 01F0                 breq .L341
 2699 1aa6 469A                 sbi 40-0x20,6
 2700 1aa8 579A                 sbi 42-0x20,7
 2701                   .L341:
 2702 1aaa 8091 0000            lds r24,AdNeutralNick
 2703 1aae 9091 0000            lds r25,(AdNeutralNick)+1
 2704 1ab2 8056                 subi r24,lo8(-(-2400))
 2705 1ab4 9940                 sbci r25,hi8(-(-2400))
 2706 1ab6 815C                 subi r24,lo8(11201)
 2707 1ab8 9B42                 sbci r25,hi8(11201)
 2708 1aba 00F0                 brlo .L343
 2709 1abc 8091 0000            lds r24,VersionInfo+5
 2710 1ac0 8160                 ori r24,lo8(1)
 2711 1ac2 8093 0000            sts VersionInfo+5,r24
 2712                   .L343:
 2713 1ac6 8091 0000            lds r24,AdNeutralRoll
 2714 1aca 9091 0000            lds r25,(AdNeutralRoll)+1
 2715 1ace 8056                 subi r24,lo8(-(-2400))
 2716 1ad0 9940                 sbci r25,hi8(-(-2400))
 2717 1ad2 815C                 subi r24,lo8(11201)
 2718 1ad4 9B42                 sbci r25,hi8(11201)
 2719 1ad6 00F0                 brlo .L345
 2720 1ad8 8091 0000            lds r24,VersionInfo+5
 2721 1adc 8260                 ori r24,lo8(2)
 2722 1ade 8093 0000            sts VersionInfo+5,r24
 2723                   .L345:
 2724 1ae2 8091 0000            lds r24,AdNeutralGier
 2725 1ae6 9091 0000            lds r25,(AdNeutralGier)+1
 2726 1aea 8C52                 subi r24,lo8(-(-300))
 2727 1aec 9140                 sbci r25,hi8(-(-300))
 2728 1aee 8957                 subi r24,lo8(1401)
 2729 1af0 9540                 sbci r25,hi8(1401)
 2730 1af2 00F0                 brlo .L347
 2731 1af4 8091 0000            lds r24,VersionInfo+5
 2732 1af8 8460                 ori r24,lo8(4)
 2733 1afa 8093 0000            sts VersionInfo+5,r24
 2734                   .L347:
 2735 1afe 8091 0000            lds r24,NeutralAccX
 2736 1b02 9091 0000            lds r25,(NeutralAccX)+1
 2737 1b06 8C52                 subi r24,lo8(-(-300))
 2738 1b08 9140                 sbci r25,hi8(-(-300))
 2739 1b0a 835C                 subi r24,lo8(451)
 2740 1b0c 9140                 sbci r25,hi8(451)
 2741 1b0e 00F0                 brlo .L349
 2742 1b10 8091 0000            lds r24,VersionInfo+5
 2743 1b14 8860                 ori r24,lo8(8)
 2744 1b16 8093 0000            sts VersionInfo+5,r24
 2745                   .L349:
 2746 1b1a 8091 0000            lds r24,NeutralAccY
 2747 1b1e 9091 0000            lds r25,(NeutralAccY)+1
 2748 1b22 8C52                 subi r24,lo8(-(-300))
 2749 1b24 9140                 sbci r25,hi8(-(-300))
 2750 1b26 835C                 subi r24,lo8(451)
 2751 1b28 9140                 sbci r25,hi8(451)
 2752 1b2a 00F0                 brlo .L351
 2753 1b2c 8091 0000            lds r24,VersionInfo+5
 2754 1b30 8061                 ori r24,lo8(16)
 2755 1b32 8093 0000            sts VersionInfo+5,r24
 2756                   .L351:
 2757 1b36 8091 0000            lds r24,NeutralAccZ
 2758 1b3a 9091 0000            lds r25,(NeutralAccZ)+1
 2759 1b3e 8050                 subi r24,lo8(-(-512))
 2760 1b40 9240                 sbci r25,hi8(-(-512))
 2761 1b42 8355                 subi r24,lo8(339)
 2762 1b44 9140                 sbci r25,hi8(339)
 2763 1b46 00F0                 brlo .L355
 2764 1b48 8091 0000            lds r24,VersionInfo+5
 2765 1b4c 8062                 ori r24,lo8(32)
 2766 1b4e 8093 0000            sts VersionInfo+5,r24
 2767                   .L355:
 2768                   /* epilogue: frame size=0 */
 2769 1b52 EEE0                 ldi r30,14
 2770 1b54 CDB7                 in r28,__SP_L__
 2771 1b56 DEB7                 in r29,__SP_H__
 2772 1b58 0C94 0000            jmp __epilogue_restores__+8
 2773                   /* epilogue end (size=5) */
 2774                   /* function SetNeutral size 679 (668) */
 2776                   .global Piep
 2778                   Piep:
 2779                   /* prologue: frame size=0 */
 2780 1b5c EF92                 push r14
 2781 1b5e FF92                 push r15
 2782 1b60 1F93                 push r17
 2783 1b62 CF93                 push r28
 2784 1b64 DF93                 push r29
 2785                   /* prologue end (size=5) */
 2786 1b66 182F                 mov r17,r24
 2787 1b68 EB01                 movw r28,r22
 2788 1b6a 8091 0000            lds r24,MotorenEin
 2789 1b6e 8823                 tst r24
 2790 1b70 01F4                 brne .L367
 2791 1b72 7B01                 movw r14,r22
 2792 1b74 EE0C                 lsl r14
 2793 1b76 FF1C                 rol r15
 2794 1b78 00C0                 rjmp .L363
 2795                   .L364:
 2796 1b7a D093 0000            sts (beeptime)+1,r29
 2797 1b7e C093 0000            sts beeptime,r28
 2798                   .L365:
 2799 1b82 8091 0000            lds r24,beeptime
 2800 1b86 9091 0000            lds r25,(beeptime)+1
 2801 1b8a 892B                 or r24,r25
 2802 1b8c 01F4                 brne .L365
 2803 1b8e C701                 movw r24,r14
 2804 1b90 0E94 0000            call Delay_ms
 2805                   .L363:
 2806 1b94 1150                 subi r17,1
 2807 1b96 00F4                 brcc .L364
 2808                   .L367:
 2809                   /* epilogue: frame size=0 */
 2810 1b98 DF91                 pop r29
 2811 1b9a CF91                 pop r28
 2812 1b9c 1F91                 pop r17
 2813 1b9e FF90                 pop r15
 2814 1ba0 EF90                 pop r14
 2815 1ba2 0895                 ret
 2816                   /* epilogue end (size=6) */
 2817                   /* function Piep size 37 (26) */
 2819                   .global MotorRegler
 2821                   MotorRegler:
 2822                   /* prologue: frame size=52 */
 2823 1ba4 A4E3                 ldi r26,lo8(52)
 2824 1ba6 B0E0                 ldi r27,hi8(52)
 2825 1ba8 E0E0                 ldi r30,pm_lo8(1f)
 2826 1baa F0E0                 ldi r31,pm_hi8(1f)
 2827 1bac 0C94 0000            jmp __prologue_saves__+0
 2828                   1:
 2829                   /* prologue end (size=6) */
 2830 1bb0 0E94 0000            call Mittelwert
 2831 1bb4 4091 0000            lds r20,PlatinenVersion
 2832 1bb8 4C30                 cpi r20,lo8(12)
 2833 1bba 00F4                 brsh .L371
 2834 1bbc 299A                 sbi 37-0x20,1
 2835 1bbe 00C0                 rjmp .L373
 2836                   .L371:
 2837 1bc0 2998                 cbi 37-0x20,1
 2838                   .L373:
 2839 1bc2 2091 0000            lds r18,StickGas
 2840 1bc6 3091 0000            lds r19,(StickGas)+1
 2841 1bca 8091 0000            lds r24,MIN_GAS
 2842 1bce E82E                 mov r14,r24
 2843 1bd0 FF24                 clr r15
 2844 1bd2 8701                 movw r16,r14
 2845 1bd4 065F                 subi r16,lo8(-(10))
 2846 1bd6 1F4F                 sbci r17,hi8(-(10))
 2847 1bd8 1D8B                 std Y+21,r17
 2848 1bda 0C8B                 std Y+20,r16
 2849 1bdc 0217                 cp r16,r18
 2850 1bde 1307                 cpc r17,r19
 2851 1be0 04F4                 brge .L374
 2852 1be2 3D8B                 std Y+21,r19
 2853 1be4 2C8B                 std Y+20,r18
 2854                   .L374:
 2855 1be6 8091 0000            lds r24,SenderOkay
 2856 1bea 8436                 cpi r24,lo8(100)
 2857 1bec 00F0                 brlo .+2
 2858 1bee 00C0                 rjmp .L375
 2859 1bf0 8091 0000            lds r24,RcLostTimer.3312
 2860 1bf4 9091 0000            lds r25,(RcLostTimer.3312)+1
 2861 1bf8 0097                 sbiw r24,0
 2862 1bfa 01F0                 breq .L377
 2863 1bfc 0197                 sbiw r24,1
 2864 1bfe 9093 0000            sts (RcLostTimer.3312)+1,r25
 2865 1c02 8093 0000            sts RcLostTimer.3312,r24
 2866 1c06 00C0                 rjmp .L379
 2867                   .L377:
 2868 1c08 1092 0000            sts MotorenEin,__zero_reg__
 2869 1c0c 8091 0000            lds r24,FC_StatusFlags
 2870 1c10 8F7E                 andi r24,lo8(-17)
 2871 1c12 8093 0000            sts FC_StatusFlags,r24
 2872                   .L379:
 2873 1c16 4A30                 cpi r20,lo8(10)
 2874 1c18 01F0                 breq .L380
 2875 1c1a 4431                 cpi r20,lo8(20)
 2876 1c1c 00F0                 brlo .L382
 2877                   .L380:
 2878 1c1e 289A                 sbi 37-0x20,0
 2879 1c20 00C0                 rjmp .L383
 2880                   .L382:
 2881 1c22 2898                 cbi 37-0x20,0
 2882                   .L383:
 2883 1c24 8091 0000            lds r24,modell_fliegt
 2884 1c28 9091 0000            lds r25,(modell_fliegt)+1
 2885 1c2c 895E                 subi r24,lo8(1001)
 2886 1c2e 9340                 sbci r25,hi8(1001)
 2887 1c30 00F0                 brlo .L384
 2888 1c32 8091 0000            lds r24,EE_Parameter+37
 2889 1c36 282F                 mov r18,r24
 2890 1c38 30E0                 ldi r19,lo8(0)
 2891 1c3a 3D8B                 std Y+21,r19
 2892 1c3c 2C8B                 std Y+20,r18
 2893 1c3e 8091 0000            lds r24,FC_StatusFlags
 2894 1c42 8061                 ori r24,lo8(16)
 2895 1c44 8093 0000            sts FC_StatusFlags,r24
 2896 1c48 A091 0000            lds r26,EE_Parameter+1
 2897 1c4c B0E0                 ldi r27,lo8(0)
 2898 1c4e AA0F                 lsl r26
 2899 1c50 BB1F                 rol r27
 2900 1c52 FD01                 movw r30,r26
 2901 1c54 E050                 subi r30,lo8(-(PPM_diff))
 2902 1c56 F040                 sbci r31,hi8(-(PPM_diff))
 2903 1c58 1182                 std Z+1,__zero_reg__
 2904 1c5a 1082                 st Z,__zero_reg__
 2905 1c5c E091 0000            lds r30,EE_Parameter+2
 2906 1c60 2E2F                 mov r18,r30
 2907 1c62 30E0                 ldi r19,lo8(0)
 2908 1c64 220F                 lsl r18
 2909 1c66 331F                 rol r19
 2910 1c68 C901                 movw r24,r18
 2911 1c6a 8050                 subi r24,lo8(-(PPM_diff))
 2912 1c6c 9040                 sbci r25,hi8(-(PPM_diff))
 2913 1c6e FC01                 movw r30,r24
 2914 1c70 1182                 std Z+1,__zero_reg__
 2915 1c72 1082                 st Z,__zero_reg__
 2916 1c74 A050                 subi r26,lo8(-(PPM_in))
 2917 1c76 B040                 sbci r27,hi8(-(PPM_in))
 2918 1c78 1196                 adiw r26,1
 2919 1c7a 1C92                 st X,__zero_reg__
 2920 1c7c 1E92                 st -X,__zero_reg__
 2921 1c7e 2050                 subi r18,lo8(-(PPM_in))
 2922 1c80 3040                 sbci r19,hi8(-(PPM_in))
 2923 1c82 D901                 movw r26,r18
 2924 1c84 1196                 adiw r26,1
 2925 1c86 1C92                 st X,__zero_reg__
 2926 1c88 1E92                 st -X,__zero_reg__
 2927 1c8a E091 0000            lds r30,EE_Parameter+4
 2928 1c8e F0E0                 ldi r31,lo8(0)
 2929 1c90 EE0F                 lsl r30
 2930 1c92 FF1F                 rol r31
 2931 1c94 E050                 subi r30,lo8(-(PPM_in))
 2932 1c96 F040                 sbci r31,hi8(-(PPM_in))
 2933 1c98 1182                 std Z+1,__zero_reg__
 2934 1c9a 1082                 st Z,__zero_reg__
 2935 1c9c 00C0                 rjmp .L386
 2936                   .L384:
 2937 1c9e 1092 0000            sts MotorenEin,__zero_reg__
 2938 1ca2 00C0                 rjmp .L386
 2939                   .L375:
 2940 1ca4 8091 0000            lds r24,SenderOkay
 2941 1ca8 8D38                 cpi r24,lo8(-115)
 2942 1caa 00F4                 brsh .+2
 2943 1cac 00C0                 rjmp .L386
 2944 1cae 8091 0000            lds r24,FC_StatusFlags
 2945 1cb2 8F7E                 andi r24,lo8(-17)
 2946 1cb4 8093 0000            sts FC_StatusFlags,r24
 2947 1cb8 8091 0000            lds r24,EE_Parameter+38
 2948 1cbc 22E3                 ldi r18,lo8(50)
 2949 1cbe 829F                 mul r24,r18
 2950 1cc0 C001                 movw r24,r0
 2951 1cc2 1124                 clr r1
 2952 1cc4 9093 0000            sts (RcLostTimer.3312)+1,r25
 2953 1cc8 8093 0000            sts RcLostTimer.3312,r24
 2954 1ccc EC89                 ldd r30,Y+20
 2955 1cce FD89                 ldd r31,Y+21
 2956 1cd0 B997                 sbiw r30,41
 2957 1cd2 04F0                 brlt .L388
 2958 1cd4 8091 0000            lds r24,MotorenEin
 2959 1cd8 8823                 tst r24
 2960 1cda 01F0                 breq .L388
 2961 1cdc 8091 0000            lds r24,modell_fliegt
 2962 1ce0 9091 0000            lds r25,(modell_fliegt)+1
 2963 1ce4 FFEF                 ldi r31,hi8(-1)
 2964 1ce6 8F3F                 cpi r24,lo8(-1)
 2965 1ce8 9F07                 cpc r25,r31
 2966 1cea 01F0                 breq .L388
 2967 1cec 0196                 adiw r24,1
 2968 1cee 9093 0000            sts (modell_fliegt)+1,r25
 2969 1cf2 8093 0000            sts modell_fliegt,r24
 2970                   .L388:
 2971 1cf6 8091 0000            lds r24,modell_fliegt
 2972 1cfa 9091 0000            lds r25,(modell_fliegt)+1
 2973 1cfe 8F3F                 cpi r24,255
 2974 1d00 9105                 cpc r25,__zero_reg__
 2975 1d02 01F0                 breq .+2
 2976 1d04 00F4                 brsh .L392
 2977 1d06 1092 0000            sts SummeNick,__zero_reg__
 2978 1d0a 1092 0000            sts (SummeNick)+1,__zero_reg__
 2979 1d0e 1092 0000            sts (SummeNick)+2,__zero_reg__
 2980 1d12 1092 0000            sts (SummeNick)+3,__zero_reg__
 2981 1d16 1092 0000            sts SummeRoll,__zero_reg__
 2982 1d1a 1092 0000            sts (SummeRoll)+1,__zero_reg__
 2983 1d1e 1092 0000            sts (SummeRoll)+2,__zero_reg__
 2984 1d22 1092 0000            sts (SummeRoll)+3,__zero_reg__
 2985 1d26 1092 0000            sts sollGier.3307,__zero_reg__
 2986 1d2a 1092 0000            sts (sollGier.3307)+1,__zero_reg__
 2987 1d2e 1092 0000            sts (sollGier.3307)+2,__zero_reg__
 2988 1d32 1092 0000            sts (sollGier.3307)+3,__zero_reg__
 2989 1d36 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 2990 1d3a 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 2991 1d3e 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 2992 1d42 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 2993 1d46 8A3F                 cpi r24,250
 2994 1d48 9105                 cpc r25,__zero_reg__
 2995 1d4a 01F4                 brne .L394
 2996 1d4c 81E0                 ldi r24,lo8(1)
 2997 1d4e 8093 0000            sts NeueKompassRichtungMerken.3317,r24
 2998 1d52 00C0                 rjmp .L394
 2999                   .L392:
 3000 1d54 8091 0000            lds r24,FC_StatusFlags
 3001 1d58 8260                 ori r24,lo8(2)
 3002 1d5a 8093 0000            sts FC_StatusFlags,r24
 3003                   .L394:
 3004 1d5e E091 0000            lds r30,EE_Parameter+3
 3005 1d62 F0E0                 ldi r31,lo8(0)
 3006 1d64 EE0F                 lsl r30
 3007 1d66 FF1F                 rol r31
 3008 1d68 E050                 subi r30,lo8(-(PPM_in))
 3009 1d6a F040                 sbci r31,hi8(-(PPM_in))
 3010 1d6c 8081                 ld r24,Z
 3011 1d6e 9181                 ldd r25,Z+1
 3012 1d70 8135                 cpi r24,81
 3013 1d72 9105                 cpc r25,__zero_reg__
 3014 1d74 04F4                 brge .+2
 3015 1d76 00C0                 rjmp .L396
 3016 1d78 8091 0000            lds r24,MotorenEin
 3017 1d7c 8823                 tst r24
 3018 1d7e 01F0                 breq .+2
 3019 1d80 00C0                 rjmp .L396
 3020 1d82 8091 0000            lds r24,EE_Parameter+4
 3021 1d86 E82F                 mov r30,r24
 3022 1d88 F0E0                 ldi r31,lo8(0)
 3023 1d8a EE0F                 lsl r30
 3024 1d8c FF1F                 rol r31
 3025 1d8e E050                 subi r30,lo8(-(PPM_in))
 3026 1d90 F040                 sbci r31,hi8(-(PPM_in))
 3027 1d92 8081                 ld r24,Z
 3028 1d94 9181                 ldd r25,Z+1
 3029 1d96 8C34                 cpi r24,76
 3030 1d98 9105                 cpc r25,__zero_reg__
 3031 1d9a 04F4                 brge .+2
 3032 1d9c 00C0                 rjmp .L399
 3033 1d9e 8091 0000            lds r24,delay_neutral.3313
 3034 1da2 8F5F                 subi r24,lo8(-(1))
 3035 1da4 8093 0000            sts delay_neutral.3313,r24
 3036 1da8 893C                 cpi r24,lo8(-55)
 3037 1daa 00F4                 brsh .+2
 3038 1dac 00C0                 rjmp .L396
 3039 1dae 4C30                 cpi r20,lo8(12)
 3040 1db0 00F4                 brsh .L402
 3041 1db2 2998                 cbi 37-0x20,1
 3042 1db4 00C0                 rjmp .L404
 3043                   .L402:
 3044 1db6 299A                 sbi 37-0x20,1
 3045                   .L404:
 3046 1db8 1092 0000            sts MotorenEin,__zero_reg__
 3047 1dbc 1092 0000            sts delay_neutral.3313,__zero_reg__
 3048 1dc0 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 3049 1dc4 1092 0000            sts modell_fliegt,__zero_reg__
 3050 1dc8 8091 0000            lds r24,EE_Parameter+1
 3051 1dcc 282F                 mov r18,r24
 3052 1dce 30E0                 ldi r19,lo8(0)
 3053 1dd0 F901                 movw r30,r18
 3054 1dd2 EE0F                 lsl r30
 3055 1dd4 FF1F                 rol r31
 3056 1dd6 E050                 subi r30,lo8(-(PPM_in))
 3057 1dd8 F040                 sbci r31,hi8(-(PPM_in))
 3058 1dda 8081                 ld r24,Z
 3059 1ddc 9181                 ldd r25,Z+1
 3060 1dde 8734                 cpi r24,71
 3061 1de0 9105                 cpc r25,__zero_reg__
 3062 1de2 04F4                 brge .L405
 3063 1de4 E091 0000            lds r30,EE_Parameter+2
 3064 1de8 F0E0                 ldi r31,lo8(0)
 3065 1dea EE0F                 lsl r30
 3066 1dec FF1F                 rol r31
 3067 1dee E050                 subi r30,lo8(-(PPM_in))
 3068 1df0 F040                 sbci r31,hi8(-(PPM_in))
 3069 1df2 0190                 ld __tmp_reg__,Z+
 3070 1df4 F081                 ld r31,Z
 3071 1df6 E02D                 mov r30,__tmp_reg__
 3072 1df8 F7FF                 sbrs r31,7
 3073 1dfa 00C0                 rjmp .L408
 3074 1dfc F095                 com r31
 3075 1dfe E195                 neg r30
 3076 1e00 FF4F                 sbci r31,lo8(-1)
 3077                   .L408:
 3078 1e02 E734                 cpi r30,71
 3079 1e04 F105                 cpc r31,__zero_reg__
 3080 1e06 04F4                 brge .+2
 3081 1e08 00C0                 rjmp .L407
 3082                   .L405:
 3083 1e0a 8091 0000            lds r24,EE_Parameter+2
 3084 1e0e 682F                 mov r22,r24
 3085 1e10 70E0                 ldi r23,lo8(0)
 3086 1e12 DB01                 movw r26,r22
 3087 1e14 AA0F                 lsl r26
 3088 1e16 BB1F                 rol r27
 3089 1e18 A050                 subi r26,lo8(-(PPM_in))
 3090 1e1a B040                 sbci r27,hi8(-(PPM_in))
 3091 1e1c 8D91                 ld r24,X+
 3092 1e1e 9C91                 ld r25,X
 3093 1e20 1197                 sbiw r26,1
 3094 1e22 8734                 cpi r24,71
 3095 1e24 9105                 cpc r25,__zero_reg__
 3096 1e26 04F0                 brlt .L409
 3097 1e28 F901                 movw r30,r18
 3098 1e2a EE0F                 lsl r30
 3099 1e2c FF1F                 rol r31
 3100 1e2e E050                 subi r30,lo8(-(PPM_in))
 3101 1e30 F040                 sbci r31,hi8(-(PPM_in))
 3102 1e32 8081                 ld r24,Z
 3103 1e34 9181                 ldd r25,Z+1
 3104                   .L409:
 3105 1e36 8D91                 ld r24,X+
 3106 1e38 9C91                 ld r25,X
 3107 1e3a 8734                 cpi r24,71
 3108 1e3c 9105                 cpc r25,__zero_reg__
 3109 1e3e 04F0                 brlt .L411
 3110 1e40 F901                 movw r30,r18
 3111 1e42 EE0F                 lsl r30
 3112 1e44 FF1F                 rol r31
 3113 1e46 E050                 subi r30,lo8(-(PPM_in))
 3114 1e48 F040                 sbci r31,hi8(-(PPM_in))
 3115 1e4a 8081                 ld r24,Z
 3116 1e4c 9181                 ldd r25,Z+1
 3117 1e4e 8734                 cpi r24,71
 3118 1e50 9105                 cpc r25,__zero_reg__
 3119 1e52 04F0                 brlt .L411
 3120 1e54 42E0                 ldi r20,lo8(2)
 3121 1e56 00C0                 rjmp .L414
 3122                   .L411:
 3123 1e58 41E0                 ldi r20,lo8(1)
 3124                   .L414:
 3125 1e5a FB01                 movw r30,r22
 3126 1e5c EE0F                 lsl r30
 3127 1e5e FF1F                 rol r31
 3128 1e60 E050                 subi r30,lo8(-(PPM_in))
 3129 1e62 F040                 sbci r31,hi8(-(PPM_in))
 3130 1e64 8081                 ld r24,Z
 3131 1e66 9181                 ldd r25,Z+1
 3132 1e68 8634                 cpi r24,70
 3133 1e6a 9105                 cpc r25,__zero_reg__
 3134 1e6c 04F4                 brge .L415
 3135 1e6e F901                 movw r30,r18
 3136 1e70 EE0F                 lsl r30
 3137 1e72 FF1F                 rol r31
 3138 1e74 E050                 subi r30,lo8(-(PPM_in))
 3139 1e76 F040                 sbci r31,hi8(-(PPM_in))
 3140 1e78 8081                 ld r24,Z
 3141 1e7a 9181                 ldd r25,Z+1
 3142 1e7c 8734                 cpi r24,71
 3143 1e7e 9105                 cpc r25,__zero_reg__
 3144 1e80 04F0                 brlt .L415
 3145 1e82 43E0                 ldi r20,lo8(3)
 3146                   .L415:
 3147 1e84 FB01                 movw r30,r22
 3148 1e86 EE0F                 lsl r30
 3149 1e88 FF1F                 rol r31
 3150 1e8a E050                 subi r30,lo8(-(PPM_in))
 3151 1e8c F040                 sbci r31,hi8(-(PPM_in))
 3152 1e8e 8081                 ld r24,Z
 3153 1e90 9181                 ldd r25,Z+1
 3154 1e92 8A5B                 subi r24,lo8(-70)
 3155 1e94 9F4F                 sbci r25,hi8(-70)
 3156 1e96 04F4                 brge .L418
 3157 1e98 F901                 movw r30,r18
 3158 1e9a EE0F                 lsl r30
 3159 1e9c FF1F                 rol r31
 3160 1e9e E050                 subi r30,lo8(-(PPM_in))
 3161 1ea0 F040                 sbci r31,hi8(-(PPM_in))
 3162 1ea2 8081                 ld r24,Z
 3163 1ea4 9181                 ldd r25,Z+1
 3164 1ea6 8734                 cpi r24,71
 3165 1ea8 9105                 cpc r25,__zero_reg__
 3166 1eaa 04F0                 brlt .L418
 3167 1eac 44E0                 ldi r20,lo8(4)
 3168                   .L418:
 3169 1eae 660F                 lsl r22
 3170 1eb0 771F                 rol r23
 3171 1eb2 6050                 subi r22,lo8(-(PPM_in))
 3172 1eb4 7040                 sbci r23,hi8(-(PPM_in))
 3173 1eb6 DB01                 movw r26,r22
 3174 1eb8 8D91                 ld r24,X+
 3175 1eba 9C91                 ld r25,X
 3176 1ebc 8A5B                 subi r24,lo8(-70)
 3177 1ebe 9F4F                 sbci r25,hi8(-70)
 3178 1ec0 04F4                 brge .L421
 3179 1ec2 220F                 lsl r18
 3180 1ec4 331F                 rol r19
 3181 1ec6 2050                 subi r18,lo8(-(PPM_in))
 3182 1ec8 3040                 sbci r19,hi8(-(PPM_in))
 3183 1eca F901                 movw r30,r18
 3184 1ecc 8081                 ld r24,Z
 3185 1ece 9181                 ldd r25,Z+1
 3186 1ed0 8634                 cpi r24,70
 3187 1ed2 9105                 cpc r25,__zero_reg__
 3188 1ed4 04F4                 brge .L421
 3189 1ed6 45E0                 ldi r20,lo8(5)
 3190                   .L421:
 3191 1ed8 842F                 mov r24,r20
 3192 1eda 0E94 0000            call SetActiveParamSet
 3193                   .L407:
 3194 1ede E091 0000            lds r30,EE_Parameter+2
 3195 1ee2 F0E0                 ldi r31,lo8(0)
 3196 1ee4 EE0F                 lsl r30
 3197 1ee6 FF1F                 rol r31
 3198 1ee8 E050                 subi r30,lo8(-(PPM_in))
 3199 1eea F040                 sbci r31,hi8(-(PPM_in))
 3200 1eec 0190                 ld __tmp_reg__,Z+
 3201 1eee F081                 ld r31,Z
 3202 1ef0 E02D                 mov r30,__tmp_reg__
 3203 1ef2 F7FF                 sbrs r31,7
 3204 1ef4 00C0                 rjmp .L425
 3205 1ef6 F095                 com r31
 3206 1ef8 E195                 neg r30
 3207 1efa FF4F                 sbci r31,lo8(-1)
 3208                   .L425:
 3209 1efc 7E97                 sbiw r30,30
 3210 1efe 04F4                 brge .L424
 3211 1f00 E091 0000            lds r30,EE_Parameter+1
 3212 1f04 F0E0                 ldi r31,lo8(0)
 3213 1f06 EE0F                 lsl r30
 3214 1f08 FF1F                 rol r31
 3215 1f0a E050                 subi r30,lo8(-(PPM_in))
 3216 1f0c F040                 sbci r31,hi8(-(PPM_in))
 3217 1f0e 8081                 ld r24,Z
 3218 1f10 9181                 ldd r25,Z+1
 3219 1f12 8A5B                 subi r24,lo8(-70)
 3220 1f14 9F4F                 sbci r25,hi8(-70)
 3221 1f16 04F4                 brge .L424
 3222 1f18 81E0                 ldi r24,lo8(1)
 3223 1f1a 8093 0000            sts WinkelOut+6,r24
 3224 1f1e 88EE                 ldi r24,lo8(1000)
 3225 1f20 93E0                 ldi r25,hi8(1000)
 3226 1f22 9093 0000            sts (beeptime)+1,r25
 3227 1f26 8093 0000            sts beeptime,r24
 3228 1f2a 00C0                 rjmp .L396
 3229                   .L424:
 3230 1f2c 0E94 0000            call GetActiveParamSet
 3231 1f30 0E94 0000            call ParamSet_ReadFromEEProm
 3232 1f34 80E0                 ldi r24,lo8(0)
 3233 1f36 0E94 0000            call LipoDetection
 3234 1f3a 8091 0000            lds r24,EE_Parameter+39
 3235 1f3e 0E94 0000            call LIBFC_ReceiverInit
 3236 1f42 8091 0000            lds r24,EE_Parameter+13
 3237 1f46 80FF                 sbrs r24,0
 3238 1f48 00C0                 rjmp .L428
 3239 1f4a 8091 0000            lds r24,MessLuftdruck
 3240 1f4e 9091 0000            lds r25,(MessLuftdruck)+1
 3241 1f52 875B                 subi r24,lo8(951)
 3242 1f54 9340                 sbci r25,hi8(951)
 3243 1f56 00F4                 brsh .L430
 3244 1f58 8091 0000            lds r24,MessLuftdruck
 3245 1f5c 9091 0000            lds r25,(MessLuftdruck)+1
 3246 1f60 8E5E                 subi r24,lo8(750)
 3247 1f62 9240                 sbci r25,hi8(750)
 3248 1f64 00F4                 brsh .L428
 3249                   .L430:
 3250 1f66 0E94 0000            call SucheLuftruckOffset
 3251                   .L428:
 3252 1f6a 1092 0000            sts ServoActive,__zero_reg__
 3253 1f6e 80E0                 ldi r24,lo8(0)
 3254 1f70 0E94 0000            call SetNeutral
 3255 1f74 81E0                 ldi r24,lo8(1)
 3256 1f76 8093 0000            sts calibration_done.3316,r24
 3257 1f7a 8093 0000            sts ServoActive,r24
 3258 1f7e 579A                 sbi 42-0x20,7
 3259 1f80 00C0                 rjmp .L913
 3260                   .L399:
 3261 1f82 8081                 ld r24,Z
 3262 1f84 9181                 ldd r25,Z+1
 3263 1f86 855B                 subi r24,lo8(-75)
 3264 1f88 9F4F                 sbci r25,hi8(-75)
 3265 1f8a 04F4                 brge .L432
 3266 1f8c 8091 0000            lds r24,delay_neutral.3313
 3267 1f90 8F5F                 subi r24,lo8(-(1))
 3268 1f92 8093 0000            sts delay_neutral.3313,r24
 3269 1f96 893C                 cpi r24,lo8(-55)
 3270 1f98 00F0                 brlo .L396
 3271 1f9a 4C30                 cpi r20,lo8(12)
 3272 1f9c 00F4                 brsh .L435
 3273 1f9e 2998                 cbi 37-0x20,1
 3274 1fa0 00C0                 rjmp .L437
 3275                   .L435:
 3276 1fa2 299A                 sbi 37-0x20,1
 3277                   .L437:
 3278 1fa4 1092 0000            sts MotorenEin,__zero_reg__
 3279 1fa8 1092 0000            sts delay_neutral.3313,__zero_reg__
 3280 1fac 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 3281 1fb0 1092 0000            sts modell_fliegt,__zero_reg__
 3282 1fb4 81E0                 ldi r24,lo8(1)
 3283 1fb6 0E94 0000            call SetNeutral
 3284 1fba 81E0                 ldi r24,lo8(1)
 3285 1fbc 8093 0000            sts calibration_done.3316,r24
 3286                   .L913:
 3287 1fc0 0E94 0000            call GetActiveParamSet
 3288 1fc4 68E7                 ldi r22,lo8(120)
 3289 1fc6 70E0                 ldi r23,hi8(120)
 3290 1fc8 0E94 0000            call Piep
 3291 1fcc 00C0                 rjmp .L396
 3292                   .L432:
 3293 1fce 1092 0000            sts delay_neutral.3313,__zero_reg__
 3294                   .L396:
 3295 1fd2 E091 0000            lds r30,EE_Parameter+3
 3296 1fd6 F0E0                 ldi r31,lo8(0)
 3297 1fd8 EE0F                 lsl r30
 3298 1fda FF1F                 rol r31
 3299 1fdc E050                 subi r30,lo8(-(PPM_in))
 3300 1fde F040                 sbci r31,hi8(-(PPM_in))
 3301 1fe0 8081                 ld r24,Z
 3302 1fe2 9181                 ldd r25,Z+1
 3303 1fe4 8B5A                 subi r24,lo8(-85)
 3304 1fe6 9F4F                 sbci r25,hi8(-85)
 3305 1fe8 04F0                 brlt .+2
 3306 1fea 00C0                 rjmp .L386
 3307 1fec 8091 0000            lds r24,MotorenEin
 3308 1ff0 E091 0000            lds r30,EE_Parameter+4
 3309 1ff4 8823                 tst r24
 3310 1ff6 01F0                 breq .+2
 3311 1ff8 00C0                 rjmp .L439
 3312 1ffa F0E0                 ldi r31,lo8(0)
 3313 1ffc EE0F                 lsl r30
 3314 1ffe FF1F                 rol r31
 3315 2000 E050                 subi r30,lo8(-(PPM_in))
 3316 2002 F040                 sbci r31,hi8(-(PPM_in))
 3317 2004 8081                 ld r24,Z
 3318 2006 9181                 ldd r25,Z+1
 3319 2008 855B                 subi r24,lo8(-75)
 3320 200a 9F4F                 sbci r25,hi8(-75)
 3321 200c 04F0                 brlt .+2
 3322 200e 00C0                 rjmp .L441
 3323 2010 2091 0000            lds r18,EE_Parameter+99
 3324 2014 E22F                 mov r30,r18
 3325 2016 F0E0                 ldi r31,lo8(0)
 3326 2018 EE0F                 lsl r30
 3327 201a FF1F                 rol r31
 3328 201c E050                 subi r30,lo8(-(PPM_in))
 3329 201e F040                 sbci r31,hi8(-(PPM_in))
 3330 2020 8081                 ld r24,Z
 3331 2022 9181                 ldd r25,Z+1
 3332 2024 855B                 subi r24,lo8(-75)
 3333 2026 9F4F                 sbci r25,hi8(-75)
 3334 2028 04F0                 brlt .L443
 3335 202a 2223                 tst r18
 3336 202c 01F0                 breq .+2
 3337 202e 00C0                 rjmp .L441
 3338                   .L443:
 3339 2030 8091 0000            lds r24,delay_einschalten.3314
 3340 2034 8F5F                 subi r24,lo8(-(1))
 3341 2036 8093 0000            sts delay_einschalten.3314,r24
 3342 203a 893C                 cpi r24,lo8(-55)
 3343 203c 00F4                 brsh .+2
 3344 203e 00C0                 rjmp .L386
 3345 2040 1092 0000            sts delay_einschalten.3314,__zero_reg__
 3346 2044 8091 0000            lds r24,VersionInfo+5
 3347 2048 8823                 tst r24
 3348 204a 01F0                 breq .+2
 3349 204c 00C0                 rjmp .L446
 3350 204e 8091 0000            lds r24,calibration_done.3316
 3351 2052 8823                 tst r24
 3352 2054 01F4                 brne .+2
 3353 2056 00C0                 rjmp .L446
 3354 2058 81E0                 ldi r24,lo8(1)
 3355 205a 90E0                 ldi r25,hi8(1)
 3356 205c 9093 0000            sts (modell_fliegt)+1,r25
 3357 2060 8093 0000            sts modell_fliegt,r24
 3358 2064 81E0                 ldi r24,lo8(1)
 3359 2066 8093 0000            sts MotorenEin,r24
 3360 206a 1092 0000            sts sollGier.3307,__zero_reg__
 3361 206e 1092 0000            sts (sollGier.3307)+1,__zero_reg__
 3362 2072 1092 0000            sts (sollGier.3307)+2,__zero_reg__
 3363 2076 1092 0000            sts (sollGier.3307)+3,__zero_reg__
 3364 207a 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 3365 207e 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 3366 2082 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 3367 2086 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 3368 208a 1092 0000            sts Mess_Integral_Gier2,__zero_reg__
 3369 208e 1092 0000            sts (Mess_Integral_Gier2)+1,__zero_reg__
 3370 2092 1092 0000            sts (Mess_Integral_Gier2)+2,__zero_reg__
 3371 2096 1092 0000            sts (Mess_Integral_Gier2)+3,__zero_reg__
 3372 209a E090 0000            lds r14,EE_Parameter+28
 3373 209e FF24                 clr r15
 3374 20a0 00E0                 ldi r16,lo8(0)
 3375 20a2 10E0                 ldi r17,hi8(0)
 3376 20a4 6091 0000            lds r22,Mittelwert_AccNick
 3377 20a8 7091 0000            lds r23,(Mittelwert_AccNick)+1
 3378 20ac 8827                 clr r24
 3379 20ae 77FD                 sbrc r23,7
 3380 20b0 8095                 com r24
 3381 20b2 982F                 mov r25,r24
 3382 20b4 A801                 movw r20,r16
 3383 20b6 9701                 movw r18,r14
 3384 20b8 0E94 0000            call __mulsi3
 3385 20bc 6093 0000            sts Mess_IntegralNick,r22
 3386 20c0 7093 0000            sts (Mess_IntegralNick)+1,r23
 3387 20c4 8093 0000            sts (Mess_IntegralNick)+2,r24
 3388 20c8 9093 0000            sts (Mess_IntegralNick)+3,r25
 3389 20cc 6091 0000            lds r22,Mittelwert_AccRoll
 3390 20d0 7091 0000            lds r23,(Mittelwert_AccRoll)+1
 3391 20d4 8827                 clr r24
 3392 20d6 77FD                 sbrc r23,7
 3393 20d8 8095                 com r24
 3394 20da 982F                 mov r25,r24
 3395 20dc 0E94 0000            call __mulsi3
 3396 20e0 6093 0000            sts Mess_IntegralRoll,r22
 3397 20e4 7093 0000            sts (Mess_IntegralRoll)+1,r23
 3398 20e8 8093 0000            sts (Mess_IntegralRoll)+2,r24
 3399 20ec 9093 0000            sts (Mess_IntegralRoll)+3,r25
 3400 20f0 8091 0000            lds r24,IntegralNick
 3401 20f4 9091 0000            lds r25,(IntegralNick)+1
 3402 20f8 A091 0000            lds r26,(IntegralNick)+2
 3403 20fc B091 0000            lds r27,(IntegralNick)+3
 3404 2100 8093 0000            sts Mess_IntegralNick2,r24
 3405 2104 9093 0000            sts (Mess_IntegralNick2)+1,r25
 3406 2108 A093 0000            sts (Mess_IntegralNick2)+2,r26
 3407 210c B093 0000            sts (Mess_IntegralNick2)+3,r27
 3408 2110 8091 0000            lds r24,IntegralRoll
 3409 2114 9091 0000            lds r25,(IntegralRoll)+1
 3410 2118 A091 0000            lds r26,(IntegralRoll)+2
 3411 211c B091 0000            lds r27,(IntegralRoll)+3
 3412 2120 8093 0000            sts Mess_IntegralRoll2,r24
 3413 2124 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 3414 2128 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 3415 212c B093 0000            sts (Mess_IntegralRoll2)+3,r27
 3416 2130 1092 0000            sts SummeNick,__zero_reg__
 3417 2134 1092 0000            sts (SummeNick)+1,__zero_reg__
 3418 2138 1092 0000            sts (SummeNick)+2,__zero_reg__
 3419 213c 1092 0000            sts (SummeNick)+3,__zero_reg__
 3420 2140 1092 0000            sts SummeRoll,__zero_reg__
 3421 2144 1092 0000            sts (SummeRoll)+1,__zero_reg__
 3422 2148 1092 0000            sts (SummeRoll)+2,__zero_reg__
 3423 214c 1092 0000            sts (SummeRoll)+3,__zero_reg__
 3424 2150 8091 0000            lds r24,FC_StatusFlags
 3425 2154 8860                 ori r24,lo8(8)
 3426 2156 8093 0000            sts FC_StatusFlags,r24
 3427 215a 8091 0000            lds r24,EE_Parameter+97
 3428 215e 2FE0                 ldi r18,lo8(15)
 3429 2160 829F                 mul r24,r18
 3430 2162 C001                 movw r24,r0
 3431 2164 1124                 clr r1
 3432 2166 2091 0000            lds r18,KompassValue
 3433 216a 3091 0000            lds r19,(KompassValue)+1
 3434 216e 820F                 add r24,r18
 3435 2170 931F                 adc r25,r19
 3436 2172 68E6                 ldi r22,lo8(360)
 3437 2174 71E0                 ldi r23,hi8(360)
 3438 2176 0E94 0000            call __divmodhi4
 3439 217a 62E0                 ldi r22,lo8(2)
 3440 217c 70E0                 ldi r23,hi8(2)
 3441 217e 0E94 0000            call __divmodhi4
 3442 2182 6093 0000            sts ControlHeading,r22
 3443 2186 00C0                 rjmp .L386
 3444                   .L446:
 3445 2188 8CED                 ldi r24,lo8(1500)
 3446 218a 95E0                 ldi r25,hi8(1500)
 3447 218c 9093 0000            sts (beeptime)+1,r25
 3448 2190 8093 0000            sts beeptime,r24
 3449 2194 00C0                 rjmp .L386
 3450                   .L441:
 3451 2196 1092 0000            sts delay_einschalten.3314,__zero_reg__
 3452 219a 00C0                 rjmp .L386
 3453                   .L439:
 3454 219c F0E0                 ldi r31,lo8(0)
 3455 219e EE0F                 lsl r30
 3456 21a0 FF1F                 rol r31
 3457 21a2 E050                 subi r30,lo8(-(PPM_in))
 3458 21a4 F040                 sbci r31,hi8(-(PPM_in))
 3459 21a6 8081                 ld r24,Z
 3460 21a8 9181                 ldd r25,Z+1
 3461 21aa 8C34                 cpi r24,76
 3462 21ac 9105                 cpc r25,__zero_reg__
 3463 21ae 04F0                 brlt .L449
 3464 21b0 2091 0000            lds r18,EE_Parameter+99
 3465 21b4 E22F                 mov r30,r18
 3466 21b6 F0E0                 ldi r31,lo8(0)
 3467 21b8 EE0F                 lsl r30
 3468 21ba FF1F                 rol r31
 3469 21bc E050                 subi r30,lo8(-(PPM_in))
 3470 21be F040                 sbci r31,hi8(-(PPM_in))
 3471 21c0 8081                 ld r24,Z
 3472 21c2 9181                 ldd r25,Z+1
 3473 21c4 855B                 subi r24,lo8(-75)
 3474 21c6 9F4F                 sbci r25,hi8(-75)
 3475 21c8 04F0                 brlt .L451
 3476 21ca 2223                 tst r18
 3477 21cc 01F4                 brne .L449
 3478                   .L451:
 3479 21ce 8091 0000            lds r24,delay_ausschalten.3315
 3480 21d2 8F5F                 subi r24,lo8(-(1))
 3481 21d4 8093 0000            sts delay_ausschalten.3315,r24
 3482 21d8 893C                 cpi r24,lo8(-55)
 3483 21da 00F0                 brlo .L386
 3484 21dc 1092 0000            sts MotorenEin,__zero_reg__
 3485 21e0 1092 0000            sts delay_ausschalten.3315,__zero_reg__
 3486 21e4 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 3487 21e8 1092 0000            sts modell_fliegt,__zero_reg__
 3488 21ec 00C0                 rjmp .L386
 3489                   .L449:
 3490 21ee 1092 0000            sts delay_ausschalten.3315,__zero_reg__
 3491                   .L386:
 3492 21f2 8091 0000            lds r24,NewPpmData
 3493 21f6 8150                 subi r24,lo8(-(-1))
 3494 21f8 8093 0000            sts NewPpmData,r24
 3495 21fc 8091 0000            lds r24,NewPpmData
 3496 2200 8F3F                 cpi r24,lo8(-1)
 3497 2202 01F0                 breq .L454
 3498 2204 8091 0000            lds r24,FC_StatusFlags
 3499 2208 84FF                 sbrs r24,4
 3500 220a 00C0                 rjmp .L456
 3501                   .L454:
 3502 220c 0E94 0000            call ParameterZuordnung
 3503 2210 8091 0000            lds r24,EE_Parameter+1
 3504 2214 882E                 mov r8,r24
 3505 2216 9924                 clr r9
 3506 2218 D401                 movw r26,r8
 3507 221a AA0F                 lsl r26
 3508 221c BB1F                 rol r27
 3509 221e FD01                 movw r30,r26
 3510 2220 E050                 subi r30,lo8(-(PPM_in))
 3511 2222 F040                 sbci r31,hi8(-(PPM_in))
 3512 2224 2081                 ld r18,Z
 3513 2226 3181                 ldd r19,Z+1
 3514 2228 8091 0000            lds r24,EE_Parameter+23
 3515 222c 682E                 mov r6,r24
 3516 222e 7724                 clr r7
 3517 2230 A050                 subi r26,lo8(-(PPM_diff))
 3518 2232 B040                 sbci r27,hi8(-(PPM_diff))
 3519 2234 ED91                 ld r30,X+
 3520 2236 FC91                 ld r31,X
 3521 2238 0091 0000            lds r16,EE_Parameter+24
 3522 223c 10E0                 ldi r17,lo8(0)
 3523 223e 269D                 mul r18,r6
 3524 2240 C001                 movw r24,r0
 3525 2242 279D                 mul r18,r7
 3526 2244 900D                 add r25,r0
 3527 2246 369D                 mul r19,r6
 3528 2248 900D                 add r25,r0
 3529 224a 1124                 clr r1
 3530 224c 4091 0000            lds r20,stick_nick.3324
 3531 2250 5091 0000            lds r21,(stick_nick.3324)+1
 3532 2254 9A01                 movw r18,r20
 3533 2256 220F                 lsl r18
 3534 2258 331F                 rol r19
 3535 225a 240F                 add r18,r20
 3536 225c 351F                 adc r19,r21
 3537 225e 820F                 add r24,r18
 3538 2260 931F                 adc r25,r19
 3539 2262 64E0                 ldi r22,lo8(4)
 3540 2264 70E0                 ldi r23,hi8(4)
 3541 2266 0E94 0000            call __divmodhi4
 3542 226a 7B01                 movw r14,r22
 3543 226c E09F                 mul r30,r16
 3544 226e C001                 movw r24,r0
 3545 2270 E19F                 mul r30,r17
 3546 2272 900D                 add r25,r0
 3547 2274 F09F                 mul r31,r16
 3548 2276 900D                 add r25,r0
 3549 2278 1124                 clr r1
 3550 227a E80E                 add r14,r24
 3551 227c F91E                 adc r15,r25
 3552 227e F092 0000            sts (stick_nick.3324)+1,r15
 3553 2282 E092 0000            sts stick_nick.3324,r14
 3554 2286 8091 0000            lds r24,EE_Parameter+2
 3555 228a A82E                 mov r10,r24
 3556 228c BB24                 clr r11
 3557 228e F501                 movw r30,r10
 3558 2290 EE0F                 lsl r30
 3559 2292 FF1F                 rol r31
 3560 2294 DF01                 movw r26,r30
 3561 2296 A050                 subi r26,lo8(-(PPM_in))
 3562 2298 B040                 sbci r27,hi8(-(PPM_in))
 3563 229a 8D91                 ld r24,X+
 3564 229c 9C91                 ld r25,X
 3565 229e E050                 subi r30,lo8(-(PPM_diff))
 3566 22a0 F040                 sbci r31,hi8(-(PPM_diff))
 3567 22a2 0190                 ld __tmp_reg__,Z+
 3568 22a4 F081                 ld r31,Z
 3569 22a6 E02D                 mov r30,__tmp_reg__
 3570 22a8 DC01                 movw r26,r24
 3571 22aa A69D                 mul r26,r6
 3572 22ac C001                 movw r24,r0
 3573 22ae A79D                 mul r26,r7
 3574 22b0 900D                 add r25,r0
 3575 22b2 B69D                 mul r27,r6
 3576 22b4 900D                 add r25,r0
 3577 22b6 1124                 clr r1
 3578 22b8 4091 0000            lds r20,stick_roll.3325
 3579 22bc 5091 0000            lds r21,(stick_roll.3325)+1
 3580 22c0 9A01                 movw r18,r20
 3581 22c2 220F                 lsl r18
 3582 22c4 331F                 rol r19
 3583 22c6 240F                 add r18,r20
 3584 22c8 351F                 adc r19,r21
 3585 22ca 820F                 add r24,r18
 3586 22cc 931F                 adc r25,r19
 3587 22ce 64E0                 ldi r22,lo8(4)
 3588 22d0 70E0                 ldi r23,hi8(4)
 3589 22d2 0E94 0000            call __divmodhi4
 3590 22d6 2B01                 movw r4,r22
 3591 22d8 E09F                 mul r30,r16
 3592 22da C001                 movw r24,r0
 3593 22dc E19F                 mul r30,r17
 3594 22de 900D                 add r25,r0
 3595 22e0 F09F                 mul r31,r16
 3596 22e2 900D                 add r25,r0
 3597 22e4 1124                 clr r1
 3598 22e6 480E                 add r4,r24
 3599 22e8 591E                 adc r5,r25
 3600 22ea 5092 0000            sts (stick_roll.3325)+1,r5
 3601 22ee 4092 0000            sts stick_roll.3325,r4
 3602 22f2 8091 0000            lds r24,CareFree
 3603 22f6 8823                 tst r24
 3604 22f8 01F0                 breq .L457
 3605 22fa C701                 movw r24,r14
 3606 22fc 64E0                 ldi r22,lo8(4)
 3607 22fe 70E0                 ldi r23,hi8(4)
 3608 2300 0E94 0000            call __divmodhi4
 3609 2304 6B01                 movw r12,r22
 3610 2306 C201                 movw r24,r4
 3611 2308 64E0                 ldi r22,lo8(4)
 3612 230a 70E0                 ldi r23,hi8(4)
 3613 230c 0E94 0000            call __divmodhi4
 3614 2310 7B01                 movw r14,r22
 3615 2312 0091 0000            lds r16,FromNC_Rotate_C
 3616 2316 1127                 clr r17
 3617 2318 07FD                 sbrc r16,7
 3618 231a 1095                 com r17
 3619 231c E091 0000            lds r30,FromNC_Rotate_S
 3620 2320 FF27                 clr r31
 3621 2322 E7FD                 sbrc r30,7
 3622 2324 F095                 com r31
 3623 2326 6E9F                 mul r22,r30
 3624 2328 C001                 movw r24,r0
 3625 232a 6F9F                 mul r22,r31
 3626 232c 900D                 add r25,r0
 3627 232e 7E9F                 mul r23,r30
 3628 2330 900D                 add r25,r0
 3629 2332 1124                 clr r1
 3630 2334 C09E                 mul r12,r16
 3631 2336 9001                 movw r18,r0
 3632 2338 C19E                 mul r12,r17
 3633 233a 300D                 add r19,r0
 3634 233c D09E                 mul r13,r16
 3635 233e 300D                 add r19,r0
 3636 2340 1124                 clr r1
 3637 2342 820F                 add r24,r18
 3638 2344 931F                 adc r25,r19
 3639 2346 68E0                 ldi r22,lo8(8)
 3640 2348 70E0                 ldi r23,hi8(8)
 3641 234a 0E94 0000            call __divmodhi4
 3642 234e 7093 0000            sts (StickNick)+1,r23
 3643 2352 6093 0000            sts StickNick,r22
 3644 2356 E09E                 mul r14,r16
 3645 2358 C001                 movw r24,r0
 3646 235a E19E                 mul r14,r17
 3647 235c 900D                 add r25,r0
 3648 235e F09E                 mul r15,r16
 3649 2360 900D                 add r25,r0
 3650 2362 1124                 clr r1
 3651 2364 CE9E                 mul r12,r30
 3652 2366 9001                 movw r18,r0
 3653 2368 CF9E                 mul r12,r31
 3654 236a 300D                 add r19,r0
 3655 236c DE9E                 mul r13,r30
 3656 236e 300D                 add r19,r0
 3657 2370 1124                 clr r1
 3658 2372 00C0                 rjmp .L914
 3659                   .L457:
 3660 2374 E091 0000            lds r30,EE_Parameter+97
 3661 2378 F0E0                 ldi r31,lo8(0)
 3662 237a E050                 subi r30,lo8(-(sintab))
 3663 237c F040                 sbci r31,hi8(-(sintab))
 3664 237e 0681                 ldd r16,Z+6
 3665 2380 0093 0000            sts FromNC_Rotate_C,r16
 3666 2384 E081                 ld r30,Z
 3667 2386 E093 0000            sts FromNC_Rotate_S,r30
 3668 238a 1127                 clr r17
 3669 238c 07FD                 sbrc r16,7
 3670 238e 1095                 com r17
 3671 2390 FF27                 clr r31
 3672 2392 E7FD                 sbrc r30,7
 3673 2394 F095                 com r31
 3674 2396 4E9E                 mul r4,r30
 3675 2398 C001                 movw r24,r0
 3676 239a 4F9E                 mul r4,r31
 3677 239c 900D                 add r25,r0
 3678 239e 5E9E                 mul r5,r30
 3679 23a0 900D                 add r25,r0
 3680 23a2 1124                 clr r1
 3681 23a4 E09E                 mul r14,r16
 3682 23a6 9001                 movw r18,r0
 3683 23a8 E19E                 mul r14,r17
 3684 23aa 300D                 add r19,r0
 3685 23ac F09E                 mul r15,r16
 3686 23ae 300D                 add r19,r0
 3687 23b0 1124                 clr r1
 3688 23b2 820F                 add r24,r18
 3689 23b4 931F                 adc r25,r19
 3690 23b6 68E0                 ldi r22,lo8(8)
 3691 23b8 70E0                 ldi r23,hi8(8)
 3692 23ba 0E94 0000            call __divmodhi4
 3693 23be 7093 0000            sts (StickNick)+1,r23
 3694 23c2 6093 0000            sts StickNick,r22
 3695 23c6 409E                 mul r4,r16
 3696 23c8 C001                 movw r24,r0
 3697 23ca 419E                 mul r4,r17
 3698 23cc 900D                 add r25,r0
 3699 23ce 509E                 mul r5,r16
 3700 23d0 900D                 add r25,r0
 3701 23d2 1124                 clr r1
 3702 23d4 EE9E                 mul r14,r30
 3703 23d6 9001                 movw r18,r0
 3704 23d8 EF9E                 mul r14,r31
 3705 23da 300D                 add r19,r0
 3706 23dc FE9E                 mul r15,r30
 3707 23de 300D                 add r19,r0
 3708 23e0 1124                 clr r1
 3709                   .L914:
 3710 23e2 821B                 sub r24,r18
 3711 23e4 930B                 sbc r25,r19
 3712 23e6 68E0                 ldi r22,lo8(8)
 3713 23e8 70E0                 ldi r23,hi8(8)
 3714 23ea 0E94 0000            call __divmodhi4
 3715 23ee 7093 0000            sts (StickRoll)+1,r23
 3716 23f2 6093 0000            sts StickRoll,r22
 3717 23f6 E091 0000            lds r30,EE_Parameter+4
 3718 23fa F0E0                 ldi r31,lo8(0)
 3719 23fc EE0F                 lsl r30
 3720 23fe FF1F                 rol r31
 3721 2400 E050                 subi r30,lo8(-(PPM_in))
 3722 2402 F040                 sbci r31,hi8(-(PPM_in))
 3723 2404 8081                 ld r24,Z
 3724 2406 9181                 ldd r25,Z+1
 3725 2408 9095                 com r25
 3726 240a 8195                 neg r24
 3727 240c 9F4F                 sbci r25,lo8(-1)
 3728 240e 9093 0000            sts (StickGier)+1,r25
 3729 2412 8093 0000            sts StickGier,r24
 3730 2416 8330                 cpi r24,3
 3731 2418 9105                 cpc r25,__zero_reg__
 3732 241a 04F0                 brlt .L460
 3733 241c 0297                 sbiw r24,2
 3734 241e 00C0                 rjmp .L915
 3735                   .L460:
 3736 2420 BFEF                 ldi r27,hi8(-2)
 3737 2422 8E3F                 cpi r24,lo8(-2)
 3738 2424 9B07                 cpc r25,r27
 3739 2426 04F4                 brge .L463
 3740 2428 0296                 adiw r24,2
 3741                   .L915:
 3742 242a 9093 0000            sts (StickGier)+1,r25
 3743 242e 8093 0000            sts StickGier,r24
 3744 2432 00C0                 rjmp .L462
 3745                   .L463:
 3746 2434 1092 0000            sts (StickGier)+1,__zero_reg__
 3747 2438 1092 0000            sts StickGier,__zero_reg__
 3748                   .L462:
 3749 243c 8091 0000            lds r24,GPS_Nick2
 3750 2440 9091 0000            lds r25,(GPS_Nick2)+1
 3751 2444 0027                 clr r16
 3752 2446 1127                 clr r17
 3753 2448 081B                 sub r16,r24
 3754 244a 190B                 sbc r17,r25
 3755 244c 8091 0000            lds r24,GPS_Nick
 3756 2450 9091 0000            lds r25,(GPS_Nick)+1
 3757 2454 081B                 sub r16,r24
 3758 2456 190B                 sbc r17,r25
 3759 2458 8091 0000            lds r24,StickNick
 3760 245c 9091 0000            lds r25,(StickNick)+1
 3761 2460 080F                 add r16,r24
 3762 2462 191F                 adc r17,r25
 3763 2464 1093 0000            sts (StickNick)+1,r17
 3764 2468 0093 0000            sts StickNick,r16
 3765 246c 8091 0000            lds r24,GPS_Roll2
 3766 2470 9091 0000            lds r25,(GPS_Roll2)+1
 3767 2474 CC24                 clr r12
 3768 2476 DD24                 clr r13
 3769 2478 C81A                 sub r12,r24
 3770 247a D90A                 sbc r13,r25
 3771 247c 8091 0000            lds r24,GPS_Roll
 3772 2480 9091 0000            lds r25,(GPS_Roll)+1
 3773 2484 C81A                 sub r12,r24
 3774 2486 D90A                 sbc r13,r25
 3775 2488 8091 0000            lds r24,StickRoll
 3776 248c 9091 0000            lds r25,(StickRoll)+1
 3777 2490 C80E                 add r12,r24
 3778 2492 D91E                 adc r13,r25
 3779 2494 D092 0000            sts (StickRoll)+1,r13
 3780 2498 C092 0000            sts StickRoll,r12
 3781 249c E091 0000            lds r30,EE_Parameter+3
 3782 24a0 F0E0                 ldi r31,lo8(0)
 3783 24a2 EE0F                 lsl r30
 3784 24a4 FF1F                 rol r31
 3785 24a6 E050                 subi r30,lo8(-(PPM_in))
 3786 24a8 F040                 sbci r31,hi8(-(PPM_in))
 3787 24aa E080                 ld r14,Z
 3788 24ac F180                 ldd r15,Z+1
 3789 24ae E8E7                 ldi r30,lo8(120)
 3790 24b0 F0E0                 ldi r31,hi8(120)
 3791 24b2 EE0E                 add r14,r30
 3792 24b4 FF1E                 adc r15,r31
 3793 24b6 F092 0000            sts (StickGas)+1,r15
 3794 24ba E092 0000            sts StickGas,r14
 3795 24be 6091 0000            lds r22,Parameter_Gyro_P
 3796 24c2 70E0                 ldi r23,lo8(0)
 3797 24c4 8827                 clr r24
 3798 24c6 77FD                 sbrc r23,7
 3799 24c8 8095                 com r24
 3800 24ca 982F                 mov r25,r24
 3801 24cc 0E94 0000            call __floatsisf
 3802 24d0 20E0                 ldi r18,lo8(0x41200000)
 3803 24d2 30E0                 ldi r19,hi8(0x41200000)
 3804 24d4 40E2                 ldi r20,hlo8(0x41200000)
 3805 24d6 51E4                 ldi r21,hhi8(0x41200000)
 3806 24d8 0E94 0000            call __addsf3
 3807 24dc 0E94 0000            call __fixunssfsi
 3808 24e0 6093 0000            sts GyroFaktor,r22
 3809 24e4 8091 0000            lds r24,Parameter_Gyro_I
 3810 24e8 8093 0000            sts IntegralFaktor,r24
 3811 24ec 6091 0000            lds r22,Parameter_Gyro_Gier_P
 3812 24f0 70E0                 ldi r23,lo8(0)
 3813 24f2 8827                 clr r24
 3814 24f4 77FD                 sbrc r23,7
 3815 24f6 8095                 com r24
 3816 24f8 982F                 mov r25,r24
 3817 24fa 0E94 0000            call __floatsisf
 3818 24fe 20E0                 ldi r18,lo8(0x41200000)
 3819 2500 30E0                 ldi r19,hi8(0x41200000)
 3820 2502 40E2                 ldi r20,hlo8(0x41200000)
 3821 2504 51E4                 ldi r21,hhi8(0x41200000)
 3822 2506 0E94 0000            call __addsf3
 3823 250a 0E94 0000            call __fixunssfsi
 3824 250e 6093 0000            sts GyroFaktorGier,r22
 3825 2512 8091 0000            lds r24,Parameter_Gyro_Gier_I
 3826 2516 8093 0000            sts IntegralFaktorGier,r24
 3827 251a 8091 0000            lds r24,ExternControl+10
 3828 251e 80FF                 sbrs r24,0
 3829 2520 00C0                 rjmp .L465
 3830 2522 8091 0000            lds r24,Parameter_ExternalControl
 3831 2526 8138                 cpi r24,lo8(-127)
 3832 2528 00F4                 brsh .+2
 3833 252a 00C0                 rjmp .L465
 3834 252c 8091 0000            lds r24,ExternControl+3
 3835 2530 9927                 clr r25
 3836 2532 87FD                 sbrc r24,7
 3837 2534 9095                 com r25
 3838 2536 9C01                 movw r18,r24
 3839 2538 269D                 mul r18,r6
 3840 253a C001                 movw r24,r0
 3841 253c 279D                 mul r18,r7
 3842 253e 900D                 add r25,r0
 3843 2540 369D                 mul r19,r6
 3844 2542 900D                 add r25,r0
 3845 2544 1124                 clr r1
 3846 2546 080F                 add r16,r24
 3847 2548 191F                 adc r17,r25
 3848 254a 1093 0000            sts (StickNick)+1,r17
 3849 254e 0093 0000            sts StickNick,r16
 3850 2552 8091 0000            lds r24,ExternControl+4
 3851 2556 9927                 clr r25
 3852 2558 87FD                 sbrc r24,7
 3853 255a 9095                 com r25
 3854 255c AC01                 movw r20,r24
 3855 255e 469D                 mul r20,r6
 3856 2560 C001                 movw r24,r0
 3857 2562 479D                 mul r20,r7
 3858 2564 900D                 add r25,r0
 3859 2566 569D                 mul r21,r6
 3860 2568 900D                 add r25,r0
 3861 256a 1124                 clr r1
 3862 256c C80E                 add r12,r24
 3863 256e D91E                 adc r13,r25
 3864 2570 D092 0000            sts (StickRoll)+1,r13
 3865 2574 C092 0000            sts StickRoll,r12
 3866 2578 2091 0000            lds r18,ExternControl+5
 3867 257c 3327                 clr r19
 3868 257e 27FD                 sbrc r18,7
 3869 2580 3095                 com r19
 3870 2582 8091 0000            lds r24,StickGier
 3871 2586 9091 0000            lds r25,(StickGier)+1
 3872 258a 820F                 add r24,r18
 3873 258c 931F                 adc r25,r19
 3874 258e 9093 0000            sts (StickGier)+1,r25
 3875 2592 8093 0000            sts StickGier,r24
 3876 2596 2091 0000            lds r18,EE_Parameter+18
 3877 259a 30E0                 ldi r19,lo8(0)
 3878 259c 8091 0000            lds r24,ExternControl+7
 3879 25a0 9927                 clr r25
 3880 25a2 87FD                 sbrc r24,7
 3881 25a4 9095                 com r25
 3882 25a6 BC01                 movw r22,r24
 3883 25a8 269F                 mul r18,r22
 3884 25aa C001                 movw r24,r0
 3885 25ac 279F                 mul r18,r23
 3886 25ae 900D                 add r25,r0
 3887 25b0 369F                 mul r19,r22
 3888 25b2 900D                 add r25,r0
 3889 25b4 1124                 clr r1
 3890 25b6 9093 0000            sts (ExternHoehenValue)+1,r25
 3891 25ba 8093 0000            sts ExternHoehenValue,r24
 3892 25be 8091 0000            lds r24,ExternControl+6
 3893 25c2 90E0                 ldi r25,lo8(0)
 3894 25c4 8E15                 cp r24,r14
 3895 25c6 9F05                 cpc r25,r15
 3896 25c8 04F4                 brge .L465
 3897 25ca 9093 0000            sts (StickGas)+1,r25
 3898 25ce 8093 0000            sts StickGas,r24
 3899                   .L465:
 3900 25d2 8091 0000            lds r24,StickGas
 3901 25d6 9091 0000            lds r25,(StickGas)+1
 3902 25da 97FF                 sbrs r25,7
 3903 25dc 00C0                 rjmp .L469
 3904 25de 1092 0000            sts (StickGas)+1,__zero_reg__
 3905 25e2 1092 0000            sts StickGas,__zero_reg__
 3906                   .L469:
 3907 25e6 8091 0000            lds r24,EE_Parameter+13
 3908 25ea 82FF                 sbrs r24,2
 3909 25ec 00C0                 rjmp .L471
 3910 25ee 1092 0000            sts IntegralFaktor,__zero_reg__
 3911                   .L471:
 3912 25f2 E091 0000            lds r30,StickNick
 3913 25f6 F091 0000            lds r31,(StickNick)+1
 3914 25fa 2091 0000            lds r18,MaxStickNick
 3915 25fe 3091 0000            lds r19,(MaxStickNick)+1
 3916 2602 CF01                 movw r24,r30
 3917 2604 64E0                 ldi r22,lo8(4)
 3918 2606 70E0                 ldi r23,hi8(4)
 3919 2608 0E94 0000            call __divmodhi4
 3920 260c 77FF                 sbrs r23,7
 3921 260e 00C0                 rjmp .L474
 3922 2610 7095                 com r23
 3923 2612 6195                 neg r22
 3924 2614 7F4F                 sbci r23,lo8(-1)
 3925                   .L474:
 3926 2616 2617                 cp r18,r22
 3927 2618 3707                 cpc r19,r23
 3928 261a 04F4                 brge .L473
 3929 261c CF01                 movw r24,r30
 3930 261e F7FF                 sbrs r31,7
 3931 2620 00C0                 rjmp .L476
 3932 2622 9095                 com r25
 3933 2624 8195                 neg r24
 3934 2626 9F4F                 sbci r25,lo8(-1)
 3935                   .L476:
 3936 2628 64E0                 ldi r22,lo8(4)
 3937 262a 70E0                 ldi r23,hi8(4)
 3938 262c 0E94 0000            call __divmodhi4
 3939 2630 7093 0000            sts (MaxStickNick)+1,r23
 3940 2634 6093 0000            sts MaxStickNick,r22
 3941 2638 6536                 cpi r22,101
 3942 263a 7105                 cpc r23,__zero_reg__
 3943 263c 04F0                 brlt .L477
 3944 263e 84E6                 ldi r24,lo8(100)
 3945 2640 90E0                 ldi r25,hi8(100)
 3946 2642 9093 0000            sts (MaxStickNick)+1,r25
 3947 2646 8093 0000            sts MaxStickNick,r24
 3948 264a 00C0                 rjmp .L477
 3949                   .L473:
 3950 264c 2150                 subi r18,lo8(-(-1))
 3951 264e 3040                 sbci r19,hi8(-(-1))
 3952 2650 3093 0000            sts (MaxStickNick)+1,r19
 3953 2654 2093 0000            sts MaxStickNick,r18
 3954                   .L477:
 3955 2658 E091 0000            lds r30,StickRoll
 3956 265c F091 0000            lds r31,(StickRoll)+1
 3957 2660 2091 0000            lds r18,MaxStickRoll
 3958 2664 3091 0000            lds r19,(MaxStickRoll)+1
 3959 2668 CF01                 movw r24,r30
 3960 266a 64E0                 ldi r22,lo8(4)
 3961 266c 70E0                 ldi r23,hi8(4)
 3962 266e 0E94 0000            call __divmodhi4
 3963 2672 77FF                 sbrs r23,7
 3964 2674 00C0                 rjmp .L480
 3965 2676 7095                 com r23
 3966 2678 6195                 neg r22
 3967 267a 7F4F                 sbci r23,lo8(-1)
 3968                   .L480:
 3969 267c 2617                 cp r18,r22
 3970 267e 3707                 cpc r19,r23
 3971 2680 04F4                 brge .L479
 3972 2682 CF01                 movw r24,r30
 3973 2684 F7FF                 sbrs r31,7
 3974 2686 00C0                 rjmp .L482
 3975 2688 9095                 com r25
 3976 268a 8195                 neg r24
 3977 268c 9F4F                 sbci r25,lo8(-1)
 3978                   .L482:
 3979 268e 64E0                 ldi r22,lo8(4)
 3980 2690 70E0                 ldi r23,hi8(4)
 3981 2692 0E94 0000            call __divmodhi4
 3982 2696 7093 0000            sts (MaxStickRoll)+1,r23
 3983 269a 6093 0000            sts MaxStickRoll,r22
 3984 269e 6536                 cpi r22,101
 3985 26a0 7105                 cpc r23,__zero_reg__
 3986 26a2 04F0                 brlt .L483
 3987 26a4 84E6                 ldi r24,lo8(100)
 3988 26a6 90E0                 ldi r25,hi8(100)
 3989 26a8 9093 0000            sts (MaxStickRoll)+1,r25
 3990 26ac 8093 0000            sts MaxStickRoll,r24
 3991 26b0 00C0                 rjmp .L483
 3992                   .L479:
 3993 26b2 2150                 subi r18,lo8(-(-1))
 3994 26b4 3040                 sbci r19,hi8(-(-1))
 3995 26b6 3093 0000            sts (MaxStickRoll)+1,r19
 3996 26ba 2093 0000            sts MaxStickRoll,r18
 3997                   .L483:
 3998 26be 8091 0000            lds r24,FC_StatusFlags
 3999 26c2 84FF                 sbrs r24,4
 4000 26c4 00C0                 rjmp .L485
 4001 26c6 1092 0000            sts (MaxStickNick)+1,__zero_reg__
 4002 26ca 1092 0000            sts MaxStickNick,__zero_reg__
 4003 26ce 1092 0000            sts (MaxStickRoll)+1,__zero_reg__
 4004 26d2 1092 0000            sts MaxStickRoll,__zero_reg__
 4005                   .L485:
 4006 26d6 F501                 movw r30,r10
 4007 26d8 EE0F                 lsl r30
 4008 26da FF1F                 rol r31
 4009 26dc E050                 subi r30,lo8(-(PPM_in))
 4010 26de F040                 sbci r31,hi8(-(PPM_in))
 4011 26e0 2081                 ld r18,Z
 4012 26e2 3181                 ldd r19,Z+1
 4013 26e4 8091 0000            lds r24,EE_Parameter+60
 4014 26e8 482F                 mov r20,r24
 4015 26ea 50E0                 ldi r21,lo8(0)
 4016 26ec 4217                 cp r20,r18
 4017 26ee 5307                 cpc r21,r19
 4018 26f0 04F4                 brge .L487
 4019 26f2 8091 0000            lds r24,EE_Parameter+100
 4020 26f6 82FF                 sbrs r24,2
 4021 26f8 00C0                 rjmp .L487
 4022 26fa 81E0                 ldi r24,lo8(1)
 4023 26fc 8093 0000            sts Looping_Links,r24
 4024 2700 00C0                 rjmp .L490
 4025                   .L487:
 4026 2702 F501                 movw r30,r10
 4027 2704 EE0F                 lsl r30
 4028 2706 FF1F                 rol r31
 4029 2708 E050                 subi r30,lo8(-(PPM_in))
 4030 270a F040                 sbci r31,hi8(-(PPM_in))
 4031 270c 2081                 ld r18,Z
 4032 270e 3181                 ldd r19,Z+1
 4033 2710 8091 0000            lds r24,EE_Parameter+61
 4034 2714 DA01                 movw r26,r20
 4035 2716 A81B                 sub r26,r24
 4036 2718 B109                 sbc r27,__zero_reg__
 4037 271a 2A17                 cp r18,r26
 4038 271c 3B07                 cpc r19,r27
 4039 271e 04F4                 brge .L490
 4040 2720 1092 0000            sts Looping_Links,__zero_reg__
 4041                   .L490:
 4042 2724 F501                 movw r30,r10
 4043 2726 EE0F                 lsl r30
 4044 2728 FF1F                 rol r31
 4045 272a E050                 subi r30,lo8(-(PPM_in))
 4046 272c F040                 sbci r31,hi8(-(PPM_in))
 4047 272e 8081                 ld r24,Z
 4048 2730 9181                 ldd r25,Z+1
 4049 2732 6627                 clr r22
 4050 2734 7727                 clr r23
 4051 2736 641B                 sub r22,r20
 4052 2738 750B                 sbc r23,r21
 4053 273a 8617                 cp r24,r22
 4054 273c 9707                 cpc r25,r23
 4055 273e 04F4                 brge .L492
 4056 2740 8091 0000            lds r24,EE_Parameter+100
 4057 2744 83FF                 sbrs r24,3
 4058 2746 00C0                 rjmp .L492
 4059 2748 81E0                 ldi r24,lo8(1)
 4060 274a 8093 0000            sts Looping_Rechts,r24
 4061 274e 00C0                 rjmp .L495
 4062                   .L492:
 4063 2750 8091 0000            lds r24,Looping_Rechts
 4064 2754 8823                 tst r24
 4065 2756 01F0                 breq .L495
 4066 2758 AA0C                 lsl r10
 4067 275a BB1C                 rol r11
 4068 275c E0E0                 ldi r30,lo8(PPM_in)
 4069 275e F0E0                 ldi r31,hi8(PPM_in)
 4070 2760 AE0E                 add r10,r30
 4071 2762 BF1E                 adc r11,r31
 4072 2764 D501                 movw r26,r10
 4073 2766 2D91                 ld r18,X+
 4074 2768 3C91                 ld r19,X
 4075 276a 8091 0000            lds r24,EE_Parameter+61
 4076 276e 90E0                 ldi r25,lo8(0)
 4077 2770 841B                 sub r24,r20
 4078 2772 950B                 sbc r25,r21
 4079 2774 8217                 cp r24,r18
 4080 2776 9307                 cpc r25,r19
 4081 2778 04F4                 brge .L495
 4082 277a 1092 0000            sts Looping_Rechts,__zero_reg__
 4083                   .L495:
 4084 277e F401                 movw r30,r8
 4085 2780 EE0F                 lsl r30
 4086 2782 FF1F                 rol r31
 4087 2784 E050                 subi r30,lo8(-(PPM_in))
 4088 2786 F040                 sbci r31,hi8(-(PPM_in))
 4089 2788 8081                 ld r24,Z
 4090 278a 9181                 ldd r25,Z+1
 4091 278c 4817                 cp r20,r24
 4092 278e 5907                 cpc r21,r25
 4093 2790 04F4                 brge .L498
 4094 2792 8091 0000            lds r24,EE_Parameter+100
 4095 2796 80FF                 sbrs r24,0
 4096 2798 00C0                 rjmp .L498
 4097 279a 81E0                 ldi r24,lo8(1)
 4098 279c 8093 0000            sts Looping_Oben,r24
 4099 27a0 00C0                 rjmp .L501
 4100                   .L498:
 4101 27a2 8091 0000            lds r24,Looping_Oben
 4102 27a6 8823                 tst r24
 4103 27a8 01F0                 breq .L501
 4104 27aa F401                 movw r30,r8
 4105 27ac EE0F                 lsl r30
 4106 27ae FF1F                 rol r31
 4107 27b0 E050                 subi r30,lo8(-(PPM_in))
 4108 27b2 F040                 sbci r31,hi8(-(PPM_in))
 4109 27b4 2081                 ld r18,Z
 4110 27b6 3181                 ldd r19,Z+1
 4111 27b8 8091 0000            lds r24,EE_Parameter+61
 4112 27bc FA01                 movw r30,r20
 4113 27be E81B                 sub r30,r24
 4114 27c0 F109                 sbc r31,__zero_reg__
 4115 27c2 2E17                 cp r18,r30
 4116 27c4 3F07                 cpc r19,r31
 4117 27c6 04F4                 brge .L501
 4118 27c8 1092 0000            sts Looping_Oben,__zero_reg__
 4119                   .L501:
 4120 27cc F401                 movw r30,r8
 4121 27ce EE0F                 lsl r30
 4122 27d0 FF1F                 rol r31
 4123 27d2 E050                 subi r30,lo8(-(PPM_in))
 4124 27d4 F040                 sbci r31,hi8(-(PPM_in))
 4125 27d6 8081                 ld r24,Z
 4126 27d8 9181                 ldd r25,Z+1
 4127 27da 8617                 cp r24,r22
 4128 27dc 9707                 cpc r25,r23
 4129 27de 04F4                 brge .L504
 4130 27e0 8091 0000            lds r24,EE_Parameter+100
 4131 27e4 81FF                 sbrs r24,1
 4132 27e6 00C0                 rjmp .L504
 4133 27e8 81E0                 ldi r24,lo8(1)
 4134 27ea 8093 0000            sts Looping_Unten,r24
 4135 27ee 00C0                 rjmp .L507
 4136                   .L504:
 4137 27f0 8091 0000            lds r24,Looping_Unten
 4138 27f4 8823                 tst r24
 4139 27f6 01F0                 breq .L507
 4140 27f8 880C                 lsl r8
 4141 27fa 991C                 rol r9
 4142 27fc 10E0                 ldi r17,lo8(PPM_in)
 4143 27fe E12E                 mov r14,r17
 4144 2800 10E0                 ldi r17,hi8(PPM_in)
 4145 2802 F12E                 mov r15,r17
 4146 2804 8E0C                 add r8,r14
 4147 2806 9F1C                 adc r9,r15
 4148 2808 D401                 movw r26,r8
 4149 280a 2D91                 ld r18,X+
 4150 280c 3C91                 ld r19,X
 4151 280e 8091 0000            lds r24,EE_Parameter+61
 4152 2812 90E0                 ldi r25,lo8(0)
 4153 2814 841B                 sub r24,r20
 4154 2816 950B                 sbc r25,r21
 4155 2818 8217                 cp r24,r18
 4156 281a 9307                 cpc r25,r19
 4157 281c 04F4                 brge .L507
 4158 281e 1092 0000            sts Looping_Unten,__zero_reg__
 4159                   .L507:
 4160 2822 8091 0000            lds r24,Looping_Links
 4161 2826 8823                 tst r24
 4162 2828 01F4                 brne .L510
 4163 282a 8091 0000            lds r24,Looping_Rechts
 4164 282e 8823                 tst r24
 4165 2830 01F0                 breq .L512
 4166                   .L510:
 4167 2832 81E0                 ldi r24,lo8(1)
 4168 2834 8093 0000            sts Looping_Roll,r24
 4169 2838 00C0                 rjmp .L513
 4170                   .L512:
 4171 283a 1092 0000            sts Looping_Roll,__zero_reg__
 4172                   .L513:
 4173 283e 8091 0000            lds r24,Looping_Oben
 4174 2842 8823                 tst r24
 4175 2844 01F4                 brne .L514
 4176 2846 8091 0000            lds r24,Looping_Unten
 4177 284a 8823                 tst r24
 4178 284c 01F0                 breq .L516
 4179                   .L514:
 4180 284e 81E0                 ldi r24,lo8(1)
 4181 2850 8093 0000            sts Looping_Nick,r24
 4182 2854 1092 0000            sts Looping_Roll,__zero_reg__
 4183 2858 1092 0000            sts Looping_Links,__zero_reg__
 4184 285c 1092 0000            sts Looping_Rechts,__zero_reg__
 4185 2860 00C0                 rjmp .L456
 4186                   .L516:
 4187 2862 1092 0000            sts Looping_Nick,__zero_reg__
 4188                   .L456:
 4189 2866 8091 0000            lds r24,Looping_Roll
 4190 286a 8823                 tst r24
 4191 286c 01F4                 brne .L517
 4192 286e 8091 0000            lds r24,Looping_Nick
 4193 2872 8823                 tst r24
 4194 2874 01F0                 breq .L519
 4195                   .L517:
 4196 2876 8091 0000            lds r24,EE_Parameter+59
 4197 287a 90E0                 ldi r25,lo8(0)
 4198 287c EC89                 ldd r30,Y+20
 4199 287e FD89                 ldd r31,Y+21
 4200 2880 8E17                 cp r24,r30
 4201 2882 9F07                 cpc r25,r31
 4202 2884 04F4                 brge .L520
 4203 2886 9D8B                 std Y+21,r25
 4204 2888 8C8B                 std Y+20,r24
 4205                   .L520:
 4206 288a 81E0                 ldi r24,lo8(1)
 4207 288c 8093 0000            sts TrichterFlug,r24
 4208                   .L519:
 4209 2890 8091 0000            lds r24,FC_StatusFlags
 4210 2894 84FF                 sbrs r24,4
 4211 2896 00C0                 rjmp .L521
 4212 2898 1092 0000            sts (StickGier)+1,__zero_reg__
 4213 289c 1092 0000            sts StickGier,__zero_reg__
 4214 28a0 1092 0000            sts (StickNick)+1,__zero_reg__
 4215 28a4 1092 0000            sts StickNick,__zero_reg__
 4216 28a8 1092 0000            sts (StickRoll)+1,__zero_reg__
 4217 28ac 1092 0000            sts StickRoll,__zero_reg__
 4218 28b0 9AE5                 ldi r25,lo8(90)
 4219 28b2 9093 0000            sts GyroFaktor,r25
 4220 28b6 88E7                 ldi r24,lo8(120)
 4221 28b8 8093 0000            sts IntegralFaktor,r24
 4222 28bc 9093 0000            sts GyroFaktorGier,r25
 4223 28c0 8093 0000            sts IntegralFaktorGier,r24
 4224 28c4 1092 0000            sts Looping_Roll,__zero_reg__
 4225 28c8 1092 0000            sts Looping_Nick,__zero_reg__
 4226                   .L521:
 4227 28cc E090 0000            lds r14,IntegralNick
 4228 28d0 F090 0000            lds r15,(IntegralNick)+1
 4229 28d4 0091 0000            lds r16,(IntegralNick)+2
 4230 28d8 1091 0000            lds r17,(IntegralNick)+3
 4231 28dc E982                 std Y+1,r14
 4232 28de FA82                 std Y+2,r15
 4233 28e0 0B83                 std Y+3,r16
 4234 28e2 1C83                 std Y+4,r17
 4235 28e4 8091 0000            lds r24,MittelIntegralNick
 4236 28e8 9091 0000            lds r25,(MittelIntegralNick)+1
 4237 28ec A091 0000            lds r26,(MittelIntegralNick)+2
 4238 28f0 B091 0000            lds r27,(MittelIntegralNick)+3
 4239 28f4 8E0D                 add r24,r14
 4240 28f6 9F1D                 adc r25,r15
 4241 28f8 A01F                 adc r26,r16
 4242 28fa B11F                 adc r27,r17
 4243 28fc 8093 0000            sts MittelIntegralNick,r24
 4244 2900 9093 0000            sts (MittelIntegralNick)+1,r25
 4245 2904 A093 0000            sts (MittelIntegralNick)+2,r26
 4246 2908 B093 0000            sts (MittelIntegralNick)+3,r27
 4247 290c 0091 0000            lds r16,IntegralRoll
 4248 2910 1091 0000            lds r17,(IntegralRoll)+1
 4249 2914 2091 0000            lds r18,(IntegralRoll)+2
 4250 2918 3091 0000            lds r19,(IntegralRoll)+3
 4251 291c 0D83                 std Y+5,r16
 4252 291e 1E83                 std Y+6,r17
 4253 2920 2F83                 std Y+7,r18
 4254 2922 3887                 std Y+8,r19
 4255 2924 8091 0000            lds r24,MittelIntegralRoll
 4256 2928 9091 0000            lds r25,(MittelIntegralRoll)+1
 4257 292c A091 0000            lds r26,(MittelIntegralRoll)+2
 4258 2930 B091 0000            lds r27,(MittelIntegralRoll)+3
 4259 2934 800F                 add r24,r16
 4260 2936 911F                 adc r25,r17
 4261 2938 A21F                 adc r26,r18
 4262 293a B31F                 adc r27,r19
 4263 293c 8093 0000            sts MittelIntegralRoll,r24
 4264 2940 9093 0000            sts (MittelIntegralRoll)+1,r25
 4265 2944 A093 0000            sts (MittelIntegralRoll)+2,r26
 4266 2948 B093 0000            sts (MittelIntegralRoll)+3,r27
 4267 294c 2091 0000            lds r18,IntegralNick2
 4268 2950 3091 0000            lds r19,(IntegralNick2)+1
 4269 2954 4091 0000            lds r20,(IntegralNick2)+2
 4270 2958 5091 0000            lds r21,(IntegralNick2)+3
 4271 295c 2F8F                 std Y+31,r18
 4272 295e 38A3                 std Y+32,r19
 4273 2960 49A3                 std Y+33,r20
 4274 2962 5AA3                 std Y+34,r21
 4275 2964 8091 0000            lds r24,MittelIntegralNick2
 4276 2968 9091 0000            lds r25,(MittelIntegralNick2)+1
 4277 296c A091 0000            lds r26,(MittelIntegralNick2)+2
 4278 2970 B091 0000            lds r27,(MittelIntegralNick2)+3
 4279 2974 820F                 add r24,r18
 4280 2976 931F                 adc r25,r19
 4281 2978 A41F                 adc r26,r20
 4282 297a B51F                 adc r27,r21
 4283 297c 8093 0000            sts MittelIntegralNick2,r24
 4284 2980 9093 0000            sts (MittelIntegralNick2)+1,r25
 4285 2984 A093 0000            sts (MittelIntegralNick2)+2,r26
 4286 2988 B093 0000            sts (MittelIntegralNick2)+3,r27
 4287 298c 4091 0000            lds r20,IntegralRoll2
 4288 2990 5091 0000            lds r21,(IntegralRoll2)+1
 4289 2994 6091 0000            lds r22,(IntegralRoll2)+2
 4290 2998 7091 0000            lds r23,(IntegralRoll2)+3
 4291 299c 4B8F                 std Y+27,r20
 4292 299e 5C8F                 std Y+28,r21
 4293 29a0 6D8F                 std Y+29,r22
 4294 29a2 7E8F                 std Y+30,r23
 4295 29a4 8091 0000            lds r24,MittelIntegralRoll2
 4296 29a8 9091 0000            lds r25,(MittelIntegralRoll2)+1
 4297 29ac A091 0000            lds r26,(MittelIntegralRoll2)+2
 4298 29b0 B091 0000            lds r27,(MittelIntegralRoll2)+3
 4299 29b4 840F                 add r24,r20
 4300 29b6 951F                 adc r25,r21
 4301 29b8 A61F                 adc r26,r22
 4302 29ba B71F                 adc r27,r23
 4303 29bc 8093 0000            sts MittelIntegralRoll2,r24
 4304 29c0 9093 0000            sts (MittelIntegralRoll2)+1,r25
 4305 29c4 A093 0000            sts (MittelIntegralRoll2)+2,r26
 4306 29c8 B093 0000            sts (MittelIntegralRoll2)+3,r27
 4307 29cc 5091 0000            lds r21,Looping_Nick
 4308 29d0 5987                 std Y+9,r21
 4309 29d2 5523                 tst r21
 4310 29d4 01F4                 brne .L523
 4311 29d6 8091 0000            lds r24,Looping_Roll
 4312 29da 8823                 tst r24
 4313 29dc 01F4                 brne .+2
 4314 29de 00C0                 rjmp .L525
 4315                   .L523:
 4316 29e0 1092 0000            sts IntegralAccNick,__zero_reg__
 4317 29e4 1092 0000            sts (IntegralAccNick)+1,__zero_reg__
 4318 29e8 1092 0000            sts (IntegralAccNick)+2,__zero_reg__
 4319 29ec 1092 0000            sts (IntegralAccNick)+3,__zero_reg__
 4320 29f0 1092 0000            sts IntegralAccRoll,__zero_reg__
 4321 29f4 1092 0000            sts (IntegralAccRoll)+1,__zero_reg__
 4322 29f8 1092 0000            sts (IntegralAccRoll)+2,__zero_reg__
 4323 29fc 1092 0000            sts (IntegralAccRoll)+3,__zero_reg__
 4324 2a00 1092 0000            sts MittelIntegralNick,__zero_reg__
 4325 2a04 1092 0000            sts (MittelIntegralNick)+1,__zero_reg__
 4326 2a08 1092 0000            sts (MittelIntegralNick)+2,__zero_reg__
 4327 2a0c 1092 0000            sts (MittelIntegralNick)+3,__zero_reg__
 4328 2a10 1092 0000            sts MittelIntegralRoll,__zero_reg__
 4329 2a14 1092 0000            sts (MittelIntegralRoll)+1,__zero_reg__
 4330 2a18 1092 0000            sts (MittelIntegralRoll)+2,__zero_reg__
 4331 2a1c 1092 0000            sts (MittelIntegralRoll)+3,__zero_reg__
 4332 2a20 1092 0000            sts MittelIntegralNick2,__zero_reg__
 4333 2a24 1092 0000            sts (MittelIntegralNick2)+1,__zero_reg__
 4334 2a28 1092 0000            sts (MittelIntegralNick2)+2,__zero_reg__
 4335 2a2c 1092 0000            sts (MittelIntegralNick2)+3,__zero_reg__
 4336 2a30 1092 0000            sts MittelIntegralRoll2,__zero_reg__
 4337 2a34 1092 0000            sts (MittelIntegralRoll2)+1,__zero_reg__
 4338 2a38 1092 0000            sts (MittelIntegralRoll2)+2,__zero_reg__
 4339 2a3c 1092 0000            sts (MittelIntegralRoll2)+3,__zero_reg__
 4340 2a40 8091 0000            lds r24,Mess_IntegralNick
 4341 2a44 9091 0000            lds r25,(Mess_IntegralNick)+1
 4342 2a48 A091 0000            lds r26,(Mess_IntegralNick)+2
 4343 2a4c B091 0000            lds r27,(Mess_IntegralNick)+3
 4344 2a50 8093 0000            sts Mess_IntegralNick2,r24
 4345 2a54 9093 0000            sts (Mess_IntegralNick2)+1,r25
 4346 2a58 A093 0000            sts (Mess_IntegralNick2)+2,r26
 4347 2a5c B093 0000            sts (Mess_IntegralNick2)+3,r27
 4348 2a60 8091 0000            lds r24,Mess_IntegralRoll
 4349 2a64 9091 0000            lds r25,(Mess_IntegralRoll)+1
 4350 2a68 A091 0000            lds r26,(Mess_IntegralRoll)+2
 4351 2a6c B091 0000            lds r27,(Mess_IntegralRoll)+3
 4352 2a70 8093 0000            sts Mess_IntegralRoll2,r24
 4353 2a74 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 4354 2a78 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 4355 2a7c B093 0000            sts (Mess_IntegralRoll2)+3,r27
 4356 2a80 1092 0000            sts (ZaehlMessungen)+1,__zero_reg__
 4357 2a84 1092 0000            sts ZaehlMessungen,__zero_reg__
 4358 2a88 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 4359 2a8c 1092 0000            sts LageKorrekturNick,__zero_reg__
 4360 2a90 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 4361 2a94 1092 0000            sts LageKorrekturRoll,__zero_reg__
 4362 2a98 6985                 ldd r22,Y+9
 4363 2a9a 6623                 tst r22
 4364 2a9c 01F0                 breq .+2
 4365 2a9e 00C0                 rjmp .L526
 4366                   .L525:
 4367 2aa0 8091 0000            lds r24,Looping_Roll
 4368 2aa4 8823                 tst r24
 4369 2aa6 01F0                 breq .+2
 4370 2aa8 00C0                 rjmp .L526
 4371 2aaa 8091 0000            lds r24,Aktuell_az
 4372 2aae 9091 0000            lds r25,(Aktuell_az)+1
 4373 2ab2 8150                 subi r24,lo8(513)
 4374 2ab4 9240                 sbci r25,hi8(513)
 4375 2ab6 04F4                 brge .L528
 4376 2ab8 8091 0000            lds r24,MotorenEin
 4377 2abc 8823                 tst r24
 4378 2abe 01F4                 brne .+2
 4379 2ac0 00C0                 rjmp .L526
 4380                   .L528:
 4381 2ac2 8091 0000            lds r24,FromNaviCtrl_Value
 4382 2ac6 E090 0000            lds r14,EE_Parameter+28
 4383 2aca 4090 0000            lds r4,Mittelwert_AccNick
 4384 2ace 5090 0000            lds r5,(Mittelwert_AccNick)+1
 4385 2ad2 8090 0000            lds r8,Mittelwert_AccRoll
 4386 2ad6 9090 0000            lds r9,(Mittelwert_AccRoll)+1
 4387 2ada 6090 0000            lds r6,MaxStickNick
 4388 2ade 7090 0000            lds r7,(MaxStickNick)+1
 4389 2ae2 8F3F                 cpi r24,lo8(-1)
 4390 2ae4 01F4                 brne .+2
 4391 2ae6 00C0                 rjmp .L530
 4392 2ae8 FF24                 clr r15
 4393 2aea 00E0                 ldi r16,lo8(0)
 4394 2aec 10E0                 ldi r17,hi8(0)
 4395 2aee A82E                 mov r10,r24
 4396 2af0 BB24                 clr r11
 4397 2af2 A7FC                 sbrc r10,7
 4398 2af4 B094                 com r11
 4399 2af6 CB2C                 mov r12,r11
 4400 2af8 DB2C                 mov r13,r11
 4401 2afa 6981                 ldd r22,Y+1
 4402 2afc 7A81                 ldd r23,Y+2
 4403 2afe 8B81                 ldd r24,Y+3
 4404 2b00 9C81                 ldd r25,Y+4
 4405 2b02 A801                 movw r20,r16
 4406 2b04 9701                 movw r18,r14
 4407 2b06 0E94 0000            call __divmodsi4
 4408 2b0a C201                 movw r24,r4
 4409 2b0c AA27                 clr r26
 4410 2b0e 97FD                 sbrc r25,7
 4411 2b10 A095                 com r26
 4412 2b12 BA2F                 mov r27,r26
 4413 2b14 281B                 sub r18,r24
 4414 2b16 390B                 sbc r19,r25
 4415 2b18 4A0B                 sbc r20,r26
 4416 2b1a 5B0B                 sbc r21,r27
 4417 2b1c CA01                 movw r24,r20
 4418 2b1e B901                 movw r22,r18
 4419 2b20 A601                 movw r20,r12
 4420 2b22 9501                 movw r18,r10
 4421 2b24 0E94 0000            call __mulsi3
 4422 2b28 20E0                 ldi r18,lo8(512)
 4423 2b2a 32E0                 ldi r19,hi8(512)
 4424 2b2c 40E0                 ldi r20,hlo8(512)
 4425 2b2e 50E0                 ldi r21,hhi8(512)
 4426 2b30 0E94 0000            call __divmodsi4
 4427 2b34 1901                 movw r2,r18
 4428 2b36 2A01                 movw r4,r20
 4429 2b38 6D81                 ldd r22,Y+5
 4430 2b3a 7E81                 ldd r23,Y+6
 4431 2b3c 8F81                 ldd r24,Y+7
 4432 2b3e 9885                 ldd r25,Y+8
 4433 2b40 A801                 movw r20,r16
 4434 2b42 9701                 movw r18,r14
 4435 2b44 0E94 0000            call __divmodsi4
 4436 2b48 C401                 movw r24,r8
 4437 2b4a AA27                 clr r26
 4438 2b4c 97FD                 sbrc r25,7
 4439 2b4e A095                 com r26
 4440 2b50 BA2F                 mov r27,r26
 4441 2b52 281B                 sub r18,r24
 4442 2b54 390B                 sbc r19,r25
 4443 2b56 4A0B                 sbc r20,r26
 4444 2b58 5B0B                 sbc r21,r27
 4445 2b5a CA01                 movw r24,r20
 4446 2b5c B901                 movw r22,r18
 4447 2b5e A601                 movw r20,r12
 4448 2b60 9501                 movw r18,r10
 4449 2b62 0E94 0000            call __mulsi3
 4450 2b66 20E0                 ldi r18,lo8(512)
 4451 2b68 32E0                 ldi r19,hi8(512)
 4452 2b6a 40E0                 ldi r20,hlo8(512)
 4453 2b6c 50E0                 ldi r21,hhi8(512)
 4454 2b6e 0E94 0000            call __divmodsi4
 4455 2b72 7901                 movw r14,r18
 4456 2b74 8A01                 movw r16,r20
 4457 2b76 81E4                 ldi r24,lo8(65)
 4458 2b78 6816                 cp r6,r24
 4459 2b7a 7104                 cpc r7,__zero_reg__
 4460 2b7c 04F4                 brge .L532
 4461 2b7e 8091 0000            lds r24,MaxStickRoll
 4462 2b82 9091 0000            lds r25,(MaxStickRoll)+1
 4463 2b86 8134                 cpi r24,65
 4464 2b88 9105                 cpc r25,__zero_reg__
 4465 2b8a 04F0                 brlt .L534
 4466                   .L532:
 4467 2b8c C201                 movw r24,r4
 4468 2b8e B101                 movw r22,r2
 4469 2b90 22E0                 ldi r18,lo8(2)
 4470 2b92 30E0                 ldi r19,hi8(2)
 4471 2b94 40E0                 ldi r20,hlo8(2)
 4472 2b96 50E0                 ldi r21,hhi8(2)
 4473 2b98 0E94 0000            call __divmodsi4
 4474 2b9c 1901                 movw r2,r18
 4475 2b9e 2A01                 movw r4,r20
 4476 2ba0 C801                 movw r24,r16
 4477 2ba2 B701                 movw r22,r14
 4478 2ba4 22E0                 ldi r18,lo8(2)
 4479 2ba6 30E0                 ldi r19,hi8(2)
 4480 2ba8 40E0                 ldi r20,hlo8(2)
 4481 2baa 50E0                 ldi r21,hhi8(2)
 4482 2bac 0E94 0000            call __divmodsi4
 4483 2bb0 7901                 movw r14,r18
 4484 2bb2 8A01                 movw r16,r20
 4485                   .L534:
 4486 2bb4 E091 0000            lds r30,EE_Parameter+4
 4487 2bb8 F0E0                 ldi r31,lo8(0)
 4488 2bba EE0F                 lsl r30
 4489 2bbc FF1F                 rol r31
 4490 2bbe E050                 subi r30,lo8(-(PPM_in))
 4491 2bc0 F040                 sbci r31,hi8(-(PPM_in))
 4492 2bc2 0190                 ld __tmp_reg__,Z+
 4493 2bc4 F081                 ld r31,Z
 4494 2bc6 E02D                 mov r30,__tmp_reg__
 4495 2bc8 F7FF                 sbrs r31,7
 4496 2bca 00C0                 rjmp .L536
 4497 2bcc F095                 com r31
 4498 2bce E195                 neg r30
 4499 2bd0 FF4F                 sbci r31,lo8(-1)
 4500                   .L536:
 4501 2bd2 7A97                 sbiw r30,26
 4502 2bd4 04F0                 brlt .L535
 4503 2bd6 C201                 movw r24,r4
 4504 2bd8 B101                 movw r22,r2
 4505 2bda 23E0                 ldi r18,lo8(3)
 4506 2bdc 30E0                 ldi r19,hi8(3)
 4507 2bde 40E0                 ldi r20,hlo8(3)
 4508 2be0 50E0                 ldi r21,hhi8(3)
 4509 2be2 0E94 0000            call __divmodsi4
 4510 2be6 1901                 movw r2,r18
 4511 2be8 2A01                 movw r4,r20
 4512 2bea C801                 movw r24,r16
 4513 2bec B701                 movw r22,r14
 4514 2bee 23E0                 ldi r18,lo8(3)
 4515 2bf0 30E0                 ldi r19,hi8(3)
 4516 2bf2 40E0                 ldi r20,hlo8(3)
 4517 2bf4 50E0                 ldi r21,hhi8(3)
 4518 2bf6 0E94 0000            call __divmodsi4
 4519 2bfa 7901                 movw r14,r18
 4520 2bfc 8A01                 movw r16,r20
 4521                   .L535:
 4522 2bfe 8091 0000            lds r24,FromNaviCtrl_Value+2
 4523 2c02 682E                 mov r6,r24
 4524 2c04 7724                 clr r7
 4525 2c06 67FC                 sbrc r6,7
 4526 2c08 7094                 com r7
 4527 2c0a 872C                 mov r8,r7
 4528 2c0c 972C                 mov r9,r7
 4529 2c0e A201                 movw r20,r4
 4530 2c10 9101                 movw r18,r2
 4531 2c12 6214                 cp r6,r2
 4532 2c14 7304                 cpc r7,r3
 4533 2c16 8404                 cpc r8,r4
 4534 2c18 9504                 cpc r9,r5
 4535 2c1a 04F4                 brge .L538
 4536 2c1c A401                 movw r20,r8
 4537 2c1e 9301                 movw r18,r6
 4538                   .L538:
 4539 2c20 9927                 clr r25
 4540 2c22 87FD                 sbrc r24,7
 4541 2c24 9095                 com r25
 4542 2c26 9095                 com r25
 4543 2c28 8195                 neg r24
 4544 2c2a 9F4F                 sbci r25,lo8(-1)
 4545 2c2c AA27                 clr r26
 4546 2c2e 97FD                 sbrc r25,7
 4547 2c30 A095                 com r26
 4548 2c32 BA2F                 mov r27,r26
 4549 2c34 5901                 movw r10,r18
 4550 2c36 6A01                 movw r12,r20
 4551 2c38 2817                 cp r18,r24
 4552 2c3a 3907                 cpc r19,r25
 4553 2c3c 4A07                 cpc r20,r26
 4554 2c3e 5B07                 cpc r21,r27
 4555 2c40 04F4                 brge .L539
 4556 2c42 5C01                 movw r10,r24
 4557 2c44 6D01                 movw r12,r26
 4558                   .L539:
 4559 2c46 6E14                 cp r6,r14
 4560 2c48 7F04                 cpc r7,r15
 4561 2c4a 8006                 cpc r8,r16
 4562 2c4c 9106                 cpc r9,r17
 4563 2c4e 04F4                 brge .L540
 4564 2c50 8401                 movw r16,r8
 4565 2c52 7301                 movw r14,r6
 4566                   .L540:
 4567 2c54 E816                 cp r14,r24
 4568 2c56 F906                 cpc r15,r25
 4569 2c58 0A07                 cpc r16,r26
 4570 2c5a 1B07                 cpc r17,r27
 4571 2c5c 04F0                 brlt .+2
 4572 2c5e 00C0                 rjmp .L541
 4573 2c60 7C01                 movw r14,r24
 4574 2c62 8D01                 movw r16,r26
 4575 2c64 00C0                 rjmp .L541
 4576                   .L530:
 4577 2c66 FF24                 clr r15
 4578 2c68 00E0                 ldi r16,lo8(0)
 4579 2c6a 10E0                 ldi r17,hi8(0)
 4580 2c6c 6981                 ldd r22,Y+1
 4581 2c6e 7A81                 ldd r23,Y+2
 4582 2c70 8B81                 ldd r24,Y+3
 4583 2c72 9C81                 ldd r25,Y+4
 4584 2c74 A801                 movw r20,r16
 4585 2c76 9701                 movw r18,r14
 4586 2c78 0E94 0000            call __divmodsi4
 4587 2c7c 5901                 movw r10,r18
 4588 2c7e 6A01                 movw r12,r20
 4589 2c80 C201                 movw r24,r4
 4590 2c82 AA27                 clr r26
 4591 2c84 97FD                 sbrc r25,7
 4592 2c86 A095                 com r26
 4593 2c88 BA2F                 mov r27,r26
 4594 2c8a A81A                 sub r10,r24
 4595 2c8c B90A                 sbc r11,r25
 4596 2c8e CA0A                 sbc r12,r26
 4597 2c90 DB0A                 sbc r13,r27
 4598 2c92 6D81                 ldd r22,Y+5
 4599 2c94 7E81                 ldd r23,Y+6
 4600 2c96 8F81                 ldd r24,Y+7
 4601 2c98 9885                 ldd r25,Y+8
 4602 2c9a A801                 movw r20,r16
 4603 2c9c 9701                 movw r18,r14
 4604 2c9e 0E94 0000            call __divmodsi4
 4605 2ca2 7901                 movw r14,r18
 4606 2ca4 8A01                 movw r16,r20
 4607 2ca6 C401                 movw r24,r8
 4608 2ca8 AA27                 clr r26
 4609 2caa 97FD                 sbrc r25,7
 4610 2cac A095                 com r26
 4611 2cae BA2F                 mov r27,r26
 4612 2cb0 E81A                 sub r14,r24
 4613 2cb2 F90A                 sbc r15,r25
 4614 2cb4 0A0B                 sbc r16,r26
 4615 2cb6 1B0B                 sbc r17,r27
 4616 2cb8 C601                 movw r24,r12
 4617 2cba B501                 movw r22,r10
 4618 2cbc 20E1                 ldi r18,lo8(16)
 4619 2cbe 30E0                 ldi r19,hi8(16)
 4620 2cc0 40E0                 ldi r20,hlo8(16)
 4621 2cc2 50E0                 ldi r21,hhi8(16)
 4622 2cc4 0E94 0000            call __divmodsi4
 4623 2cc8 5901                 movw r10,r18
 4624 2cca 6A01                 movw r12,r20
 4625 2ccc C801                 movw r24,r16
 4626 2cce B701                 movw r22,r14
 4627 2cd0 20E1                 ldi r18,lo8(16)
 4628 2cd2 30E0                 ldi r19,hi8(16)
 4629 2cd4 40E0                 ldi r20,hlo8(16)
 4630 2cd6 50E0                 ldi r21,hhi8(16)
 4631 2cd8 0E94 0000            call __divmodsi4
 4632 2cdc 7901                 movw r14,r18
 4633 2cde 8A01                 movw r16,r20
 4634 2ce0 91E4                 ldi r25,lo8(65)
 4635 2ce2 6916                 cp r6,r25
 4636 2ce4 7104                 cpc r7,__zero_reg__
 4637 2ce6 04F4                 brge .L543
 4638 2ce8 8091 0000            lds r24,MaxStickRoll
 4639 2cec 9091 0000            lds r25,(MaxStickRoll)+1
 4640 2cf0 8134                 cpi r24,65
 4641 2cf2 9105                 cpc r25,__zero_reg__
 4642 2cf4 04F0                 brlt .L545
 4643                   .L543:
 4644 2cf6 C601                 movw r24,r12
 4645 2cf8 B501                 movw r22,r10
 4646 2cfa 23E0                 ldi r18,lo8(3)
 4647 2cfc 30E0                 ldi r19,hi8(3)
 4648 2cfe 40E0                 ldi r20,hlo8(3)
 4649 2d00 50E0                 ldi r21,hhi8(3)
 4650 2d02 0E94 0000            call __divmodsi4
 4651 2d06 5901                 movw r10,r18
 4652 2d08 6A01                 movw r12,r20
 4653 2d0a C801                 movw r24,r16
 4654 2d0c B701                 movw r22,r14
 4655 2d0e 23E0                 ldi r18,lo8(3)
 4656 2d10 30E0                 ldi r19,hi8(3)
 4657 2d12 40E0                 ldi r20,hlo8(3)
 4658 2d14 50E0                 ldi r21,hhi8(3)
 4659 2d16 0E94 0000            call __divmodsi4
 4660 2d1a 7901                 movw r14,r18
 4661 2d1c 8A01                 movw r16,r20
 4662                   .L545:
 4663 2d1e E091 0000            lds r30,EE_Parameter+4
 4664 2d22 F0E0                 ldi r31,lo8(0)
 4665 2d24 EE0F                 lsl r30
 4666 2d26 FF1F                 rol r31
 4667 2d28 E050                 subi r30,lo8(-(PPM_in))
 4668 2d2a F040                 sbci r31,hi8(-(PPM_in))
 4669 2d2c 0190                 ld __tmp_reg__,Z+
 4670 2d2e F081                 ld r31,Z
 4671 2d30 E02D                 mov r30,__tmp_reg__
 4672 2d32 F7FF                 sbrs r31,7
 4673 2d34 00C0                 rjmp .L547
 4674 2d36 F095                 com r31
 4675 2d38 E195                 neg r30
 4676 2d3a FF4F                 sbci r31,lo8(-1)
 4677                   .L547:
 4678 2d3c 7A97                 sbiw r30,26
 4679 2d3e 04F0                 brlt .L546
 4680 2d40 C601                 movw r24,r12
 4681 2d42 B501                 movw r22,r10
 4682 2d44 23E0                 ldi r18,lo8(3)
 4683 2d46 30E0                 ldi r19,hi8(3)
 4684 2d48 40E0                 ldi r20,hlo8(3)
 4685 2d4a 50E0                 ldi r21,hhi8(3)
 4686 2d4c 0E94 0000            call __divmodsi4
 4687 2d50 5901                 movw r10,r18
 4688 2d52 6A01                 movw r12,r20
 4689 2d54 C801                 movw r24,r16
 4690 2d56 B701                 movw r22,r14
 4691 2d58 23E0                 ldi r18,lo8(3)
 4692 2d5a 30E0                 ldi r19,hi8(3)
 4693 2d5c 40E0                 ldi r20,hlo8(3)
 4694 2d5e 50E0                 ldi r21,hhi8(3)
 4695 2d60 0E94 0000            call __divmodsi4
 4696 2d64 7901                 movw r14,r18
 4697 2d66 8A01                 movw r16,r20
 4698                   .L546:
 4699 2d68 A1E2                 ldi r26,lo8(33)
 4700 2d6a AA16                 cp r10,r26
 4701 2d6c B104                 cpc r11,__zero_reg__
 4702 2d6e C104                 cpc r12,__zero_reg__
 4703 2d70 D104                 cpc r13,__zero_reg__
 4704 2d72 04F0                 brlt .L549
 4705 2d74 70E2                 ldi r23,lo8(32)
 4706 2d76 A72E                 mov r10,r23
 4707 2d78 B12C                 mov r11,__zero_reg__
 4708 2d7a C12C                 mov r12,__zero_reg__
 4709 2d7c D12C                 mov r13,__zero_reg__
 4710 2d7e 00C0                 rjmp .L551
 4711                   .L549:
 4712 2d80 B0EE                 ldi r27,lo8(-32)
 4713 2d82 AB16                 cp r10,r27
 4714 2d84 BFEF                 ldi r27,hi8(-32)
 4715 2d86 BB06                 cpc r11,r27
 4716 2d88 BFEF                 ldi r27,hlo8(-32)
 4717 2d8a CB06                 cpc r12,r27
 4718 2d8c BFEF                 ldi r27,hhi8(-32)
 4719 2d8e DB06                 cpc r13,r27
 4720 2d90 04F4                 brge .L551
 4721 2d92 60EE                 ldi r22,lo8(-32)
 4722 2d94 A62E                 mov r10,r22
 4723 2d96 6FEF                 ldi r22,hi8(-32)
 4724 2d98 B62E                 mov r11,r22
 4725 2d9a 6FEF                 ldi r22,hlo8(-32)
 4726 2d9c C62E                 mov r12,r22
 4727 2d9e 6FEF                 ldi r22,hhi8(-32)
 4728 2da0 D62E                 mov r13,r22
 4729                   .L551:
 4730 2da2 E1E2                 ldi r30,lo8(33)
 4731 2da4 EE16                 cp r14,r30
 4732 2da6 F104                 cpc r15,__zero_reg__
 4733 2da8 0105                 cpc r16,__zero_reg__
 4734 2daa 1105                 cpc r17,__zero_reg__
 4735 2dac 04F0                 brlt .L553
 4736 2dae 50E2                 ldi r21,lo8(32)
 4737 2db0 E52E                 mov r14,r21
 4738 2db2 F12C                 mov r15,__zero_reg__
 4739 2db4 012D                 mov r16,__zero_reg__
 4740 2db6 112D                 mov r17,__zero_reg__
 4741 2db8 00C0                 rjmp .L541
 4742                   .L553:
 4743 2dba F0EE                 ldi r31,lo8(-32)
 4744 2dbc EF16                 cp r14,r31
 4745 2dbe FFEF                 ldi r31,hi8(-32)
 4746 2dc0 FF06                 cpc r15,r31
 4747 2dc2 FFEF                 ldi r31,hlo8(-32)
 4748 2dc4 0F07                 cpc r16,r31
 4749 2dc6 FFEF                 ldi r31,hhi8(-32)
 4750 2dc8 1F07                 cpc r17,r31
 4751 2dca 04F4                 brge .L541
 4752 2dcc 40EE                 ldi r20,lo8(-32)
 4753 2dce E42E                 mov r14,r20
 4754 2dd0 4FEF                 ldi r20,hi8(-32)
 4755 2dd2 F42E                 mov r15,r20
 4756 2dd4 4FEF                 ldi r20,hlo8(-32)
 4757 2dd6 042F                 mov r16,r20
 4758 2dd8 4FEF                 ldi r20,hhi8(-32)
 4759 2dda 142F                 mov r17,r20
 4760                   .L541:
 4761 2ddc 8091 0000            lds r24,Mess_IntegralNick
 4762 2de0 9091 0000            lds r25,(Mess_IntegralNick)+1
 4763 2de4 A091 0000            lds r26,(Mess_IntegralNick)+2
 4764 2de8 B091 0000            lds r27,(Mess_IntegralNick)+3
 4765 2dec 8A19                 sub r24,r10
 4766 2dee 9B09                 sbc r25,r11
 4767 2df0 AC09                 sbc r26,r12
 4768 2df2 BD09                 sbc r27,r13
 4769 2df4 8093 0000            sts Mess_IntegralNick,r24
 4770 2df8 9093 0000            sts (Mess_IntegralNick)+1,r25
 4771 2dfc A093 0000            sts (Mess_IntegralNick)+2,r26
 4772 2e00 B093 0000            sts (Mess_IntegralNick)+3,r27
 4773 2e04 8091 0000            lds r24,Mess_IntegralRoll
 4774 2e08 9091 0000            lds r25,(Mess_IntegralRoll)+1
 4775 2e0c A091 0000            lds r26,(Mess_IntegralRoll)+2
 4776 2e10 B091 0000            lds r27,(Mess_IntegralRoll)+3
 4777 2e14 8E19                 sub r24,r14
 4778 2e16 9F09                 sbc r25,r15
 4779 2e18 A00B                 sbc r26,r16
 4780 2e1a B10B                 sbc r27,r17
 4781 2e1c 8093 0000            sts Mess_IntegralRoll,r24
 4782 2e20 9093 0000            sts (Mess_IntegralRoll)+1,r25
 4783 2e24 A093 0000            sts (Mess_IntegralRoll)+2,r26
 4784 2e28 B093 0000            sts (Mess_IntegralRoll)+3,r27
 4785                   .L526:
 4786 2e2c 8091 0000            lds r24,ZaehlMessungen
 4787 2e30 9091 0000            lds r25,(ZaehlMessungen)+1
 4788 2e34 8F3F                 cpi r24,255
 4789 2e36 9105                 cpc r25,__zero_reg__
 4790 2e38 01F0                 breq .+2
 4791 2e3a 00F4                 brsh .+2
 4792 2e3c 00C0                 rjmp .L556
 4793 2e3e E984                 ldd r14,Y+9
 4794 2e40 EE20                 tst r14
 4795 2e42 01F0                 breq .+2
 4796 2e44 00C0                 rjmp .L558
 4797 2e46 8091 0000            lds r24,Looping_Roll
 4798 2e4a 8823                 tst r24
 4799 2e4c 01F0                 breq .+2
 4800 2e4e 00C0                 rjmp .L558
 4801 2e50 8091 0000            lds r24,TrichterFlug
 4802 2e54 8823                 tst r24
 4803 2e56 01F0                 breq .+2
 4804 2e58 00C0                 rjmp .L558
 4805 2e5a F090 0000            lds r15,EE_Parameter+68
 4806 2e5e FA8E                 std Y+26,r15
 4807 2e60 FF20                 tst r15
 4808 2e62 01F4                 brne .+2
 4809 2e64 00C0                 rjmp .L558
 4810 2e66 6091 0000            lds r22,MittelIntegralNick
 4811 2e6a 7091 0000            lds r23,(MittelIntegralNick)+1
 4812 2e6e 8091 0000            lds r24,(MittelIntegralNick)+2
 4813 2e72 9091 0000            lds r25,(MittelIntegralNick)+3
 4814 2e76 20E0                 ldi r18,lo8(256)
 4815 2e78 31E0                 ldi r19,hi8(256)
 4816 2e7a 40E0                 ldi r20,hlo8(256)
 4817 2e7c 50E0                 ldi r21,hhi8(256)
 4818 2e7e 0E94 0000            call __divmodsi4
 4819 2e82 1901                 movw r2,r18
 4820 2e84 2A01                 movw r4,r20
 4821 2e86 2093 0000            sts MittelIntegralNick,r18
 4822 2e8a 3093 0000            sts (MittelIntegralNick)+1,r19
 4823 2e8e 4093 0000            sts (MittelIntegralNick)+2,r20
 4824 2e92 5093 0000            sts (MittelIntegralNick)+3,r21
 4825 2e96 6091 0000            lds r22,MittelIntegralRoll
 4826 2e9a 7091 0000            lds r23,(MittelIntegralRoll)+1
 4827 2e9e 8091 0000            lds r24,(MittelIntegralRoll)+2
 4828 2ea2 9091 0000            lds r25,(MittelIntegralRoll)+3
 4829 2ea6 20E0                 ldi r18,lo8(256)
 4830 2ea8 31E0                 ldi r19,hi8(256)
 4831 2eaa 40E0                 ldi r20,hlo8(256)
 4832 2eac 50E0                 ldi r21,hhi8(256)
 4833 2eae 0E94 0000            call __divmodsi4
 4834 2eb2 2E8B                 std Y+22,r18
 4835 2eb4 3F8B                 std Y+23,r19
 4836 2eb6 488F                 std Y+24,r20
 4837 2eb8 598F                 std Y+25,r21
 4838 2eba 2093 0000            sts MittelIntegralRoll,r18
 4839 2ebe 3093 0000            sts (MittelIntegralRoll)+1,r19
 4840 2ec2 4093 0000            sts (MittelIntegralRoll)+2,r20
 4841 2ec6 5093 0000            sts (MittelIntegralRoll)+3,r21
 4842 2eca E090 0000            lds r14,EE_Parameter+28
 4843 2ece FF24                 clr r15
 4844 2ed0 00E0                 ldi r16,lo8(0)
 4845 2ed2 10E0                 ldi r17,hi8(0)
 4846 2ed4 2091 0000            lds r18,IntegralAccNick
 4847 2ed8 3091 0000            lds r19,(IntegralAccNick)+1
 4848 2edc 4091 0000            lds r20,(IntegralAccNick)+2
 4849 2ee0 5091 0000            lds r21,(IntegralAccNick)+3
 4850 2ee4 C801                 movw r24,r16
 4851 2ee6 B701                 movw r22,r14
 4852 2ee8 0E94 0000            call __mulsi3
 4853 2eec 20E0                 ldi r18,lo8(256)
 4854 2eee 31E0                 ldi r19,hi8(256)
 4855 2ef0 40E0                 ldi r20,hlo8(256)
 4856 2ef2 50E0                 ldi r21,hhi8(256)
 4857 2ef4 0E94 0000            call __divmodsi4
 4858 2ef8 5901                 movw r10,r18
 4859 2efa 6A01                 movw r12,r20
 4860 2efc 2093 0000            sts IntegralAccNick,r18
 4861 2f00 3093 0000            sts (IntegralAccNick)+1,r19
 4862 2f04 4093 0000            sts (IntegralAccNick)+2,r20
 4863 2f08 5093 0000            sts (IntegralAccNick)+3,r21
 4864 2f0c 2091 0000            lds r18,IntegralAccRoll
 4865 2f10 3091 0000            lds r19,(IntegralAccRoll)+1
 4866 2f14 4091 0000            lds r20,(IntegralAccRoll)+2
 4867 2f18 5091 0000            lds r21,(IntegralAccRoll)+3
 4868 2f1c C801                 movw r24,r16
 4869 2f1e B701                 movw r22,r14
 4870 2f20 0E94 0000            call __mulsi3
 4871 2f24 20E0                 ldi r18,lo8(256)
 4872 2f26 31E0                 ldi r19,hi8(256)
 4873 2f28 40E0                 ldi r20,hlo8(256)
 4874 2f2a 50E0                 ldi r21,hhi8(256)
 4875 2f2c 0E94 0000            call __divmodsi4
 4876 2f30 3901                 movw r6,r18
 4877 2f32 4A01                 movw r8,r20
 4878 2f34 2093 0000            sts IntegralAccRoll,r18
 4879 2f38 3093 0000            sts (IntegralAccRoll)+1,r19
 4880 2f3c 4093 0000            sts (IntegralAccRoll)+2,r20
 4881 2f40 5093 0000            sts (IntegralAccRoll)+3,r21
 4882 2f44 6091 0000            lds r22,IntegralAccZ
 4883 2f48 7091 0000            lds r23,(IntegralAccZ)+1
 4884 2f4c 8091 0000            lds r24,(IntegralAccZ)+2
 4885 2f50 9091 0000            lds r25,(IntegralAccZ)+3
 4886 2f54 20E0                 ldi r18,lo8(256)
 4887 2f56 31E0                 ldi r19,hi8(256)
 4888 2f58 40E0                 ldi r20,hlo8(256)
 4889 2f5a 50E0                 ldi r21,hhi8(256)
 4890 2f5c 0E94 0000            call __divmodsi4
 4891 2f60 2093 0000            sts IntegralAccZ,r18
 4892 2f64 3093 0000            sts (IntegralAccZ)+1,r19
 4893 2f68 4093 0000            sts (IntegralAccZ)+2,r20
 4894 2f6c 5093 0000            sts (IntegralAccZ)+3,r21
 4895 2f70 E090 0000            lds r14,EE_Parameter+67
 4896 2f74 FF24                 clr r15
 4897 2f76 00E0                 ldi r16,lo8(0)
 4898 2f78 10E0                 ldi r17,hi8(0)
 4899 2f7a C201                 movw r24,r4
 4900 2f7c B101                 movw r22,r2
 4901 2f7e 6A19                 sub r22,r10
 4902 2f80 7B09                 sbc r23,r11
 4903 2f82 8C09                 sbc r24,r12
 4904 2f84 9D09                 sbc r25,r13
 4905 2f86 A801                 movw r20,r16
 4906 2f88 9701                 movw r18,r14
 4907 2f8a 0E94 0000            call __divmodsi4
 4908 2f8e 5901                 movw r10,r18
 4909 2f90 6A01                 movw r12,r20
 4910 2f92 2093 0000            sts ausgleichNick.3318,r18
 4911 2f96 3093 0000            sts (ausgleichNick.3318)+1,r19
 4912 2f9a 4093 0000            sts (ausgleichNick.3318)+2,r20
 4913 2f9e 5093 0000            sts (ausgleichNick.3318)+3,r21
 4914 2fa2 6E89                 ldd r22,Y+22
 4915 2fa4 7F89                 ldd r23,Y+23
 4916 2fa6 888D                 ldd r24,Y+24
 4917 2fa8 998D                 ldd r25,Y+25
 4918 2faa 6619                 sub r22,r6
 4919 2fac 7709                 sbc r23,r7
 4920 2fae 8809                 sbc r24,r8
 4921 2fb0 9909                 sbc r25,r9
 4922 2fb2 A801                 movw r20,r16
 4923 2fb4 9701                 movw r18,r14
 4924 2fb6 0E94 0000            call __divmodsi4
 4925 2fba 7901                 movw r14,r18
 4926 2fbc 8A01                 movw r16,r20
 4927 2fbe 2093 0000            sts ausgleichRoll.3319,r18
 4928 2fc2 3093 0000            sts (ausgleichRoll.3319)+1,r19
 4929 2fc6 4093 0000            sts (ausgleichRoll.3319)+2,r20
 4930 2fca 5093 0000            sts (ausgleichRoll.3319)+3,r21
 4931 2fce C601                 movw r24,r12
 4932 2fd0 B501                 movw r22,r10
 4933 2fd2 20E0                 ldi r18,lo8(256)
 4934 2fd4 31E0                 ldi r19,hi8(256)
 4935 2fd6 40E0                 ldi r20,hlo8(256)
 4936 2fd8 50E0                 ldi r21,hhi8(256)
 4937 2fda 0E94 0000            call __divmodsi4
 4938 2fde 6901                 movw r12,r18
 4939 2fe0 3093 0000            sts (LageKorrekturNick)+1,r19
 4940 2fe4 2093 0000            sts LageKorrekturNick,r18
 4941 2fe8 C801                 movw r24,r16
 4942 2fea B701                 movw r22,r14
 4943 2fec 20E0                 ldi r18,lo8(256)
 4944 2fee 31E0                 ldi r19,hi8(256)
 4945 2ff0 40E0                 ldi r20,hlo8(256)
 4946 2ff2 50E0                 ldi r21,hhi8(256)
 4947 2ff4 0E94 0000            call __divmodsi4
 4948 2ff8 8901                 movw r16,r18
 4949 2ffa 3093 0000            sts (LageKorrekturRoll)+1,r19
 4950 2ffe 2093 0000            sts LageKorrekturRoll,r18
 4951 3002 8091 0000            lds r24,MaxStickNick
 4952 3006 9091 0000            lds r25,(MaxStickNick)+1
 4953 300a 8134                 cpi r24,65
 4954 300c 9105                 cpc r25,__zero_reg__
 4955 300e 04F4                 brge .L563
 4956 3010 8091 0000            lds r24,MaxStickRoll
 4957 3014 9091 0000            lds r25,(MaxStickRoll)+1
 4958 3018 8134                 cpi r24,65
 4959 301a 9105                 cpc r25,__zero_reg__
 4960 301c 04F4                 brge .L563
 4961 301e E091 0000            lds r30,EE_Parameter+4
 4962 3022 F0E0                 ldi r31,lo8(0)
 4963 3024 EE0F                 lsl r30
 4964 3026 FF1F                 rol r31
 4965 3028 E050                 subi r30,lo8(-(PPM_in))
 4966 302a F040                 sbci r31,hi8(-(PPM_in))
 4967 302c 0190                 ld __tmp_reg__,Z+
 4968 302e F081                 ld r31,Z
 4969 3030 E02D                 mov r30,__tmp_reg__
 4970 3032 F7FF                 sbrs r31,7
 4971 3034 00C0                 rjmp .L567
 4972 3036 F095                 com r31
 4973 3038 E195                 neg r30
 4974 303a FF4F                 sbci r31,lo8(-1)
 4975                   .L567:
 4976 303c 7A97                 sbiw r30,26
 4977 303e 04F0                 brlt .L566
 4978                   .L563:
 4979 3040 8091 0000            lds r24,FromNaviCtrl_Value
 4980 3044 8F3F                 cpi r24,lo8(-1)
 4981 3046 01F4                 brne .L566
 4982 3048 C601                 movw r24,r12
 4983 304a 62E0                 ldi r22,lo8(2)
 4984 304c 70E0                 ldi r23,hi8(2)
 4985 304e 0E94 0000            call __divmodhi4
 4986 3052 7093 0000            sts (LageKorrekturNick)+1,r23
 4987 3056 6093 0000            sts LageKorrekturNick,r22
 4988 305a C801                 movw r24,r16
 4989 305c 62E0                 ldi r22,lo8(2)
 4990 305e 70E0                 ldi r23,hi8(2)
 4991 3060 0E94 0000            call __divmodhi4
 4992 3064 7093 0000            sts (LageKorrekturRoll)+1,r23
 4993 3068 6093 0000            sts LageKorrekturRoll,r22
 4994                   .L566:
 4995 306c 6091 0000            lds r22,MittelIntegralNick2
 4996 3070 7091 0000            lds r23,(MittelIntegralNick2)+1
 4997 3074 8091 0000            lds r24,(MittelIntegralNick2)+2
 4998 3078 9091 0000            lds r25,(MittelIntegralNick2)+3
 4999 307c 20E0                 ldi r18,lo8(256)
 5000 307e 31E0                 ldi r19,hi8(256)
 5001 3080 40E0                 ldi r20,hlo8(256)
 5002 3082 50E0                 ldi r21,hhi8(256)
 5003 3084 0E94 0000            call __divmodsi4
 5004 3088 2093 0000            sts MittelIntegralNick2,r18
 5005 308c 3093 0000            sts (MittelIntegralNick2)+1,r19
 5006 3090 4093 0000            sts (MittelIntegralNick2)+2,r20
 5007 3094 5093 0000            sts (MittelIntegralNick2)+3,r21
 5008 3098 6091 0000            lds r22,MittelIntegralRoll2
 5009 309c 7091 0000            lds r23,(MittelIntegralRoll2)+1
 5010 30a0 8091 0000            lds r24,(MittelIntegralRoll2)+2
 5011 30a4 9091 0000            lds r25,(MittelIntegralRoll2)+3
 5012 30a8 20E0                 ldi r18,lo8(256)
 5013 30aa 31E0                 ldi r19,hi8(256)
 5014 30ac 40E0                 ldi r20,hlo8(256)
 5015 30ae 50E0                 ldi r21,hhi8(256)
 5016 30b0 0E94 0000            call __divmodsi4
 5017 30b4 2093 0000            sts MittelIntegralRoll2,r18
 5018 30b8 3093 0000            sts (MittelIntegralRoll2)+1,r19
 5019 30bc 4093 0000            sts (MittelIntegralRoll2)+2,r20
 5020 30c0 5093 0000            sts (MittelIntegralRoll2)+3,r21
 5021 30c4 EF8C                 ldd r14,Y+31
 5022 30c6 F8A0                 ldd r15,Y+32
 5023 30c8 09A1                 ldd r16,Y+33
 5024 30ca 1AA1                 ldd r17,Y+34
 5025 30cc 2981                 ldd r18,Y+1
 5026 30ce 3A81                 ldd r19,Y+2
 5027 30d0 4B81                 ldd r20,Y+3
 5028 30d2 5C81                 ldd r21,Y+4
 5029 30d4 E21A                 sub r14,r18
 5030 30d6 F30A                 sbc r15,r19
 5031 30d8 040B                 sbc r16,r20
 5032 30da 150B                 sbc r17,r21
 5033 30dc E092 0000            sts tmp_long.3308,r14
 5034 30e0 F092 0000            sts (tmp_long.3308)+1,r15
 5035 30e4 0093 0000            sts (tmp_long.3308)+2,r16
 5036 30e8 1093 0000            sts (tmp_long.3308)+3,r17
 5037 30ec AB8C                 ldd r10,Y+27
 5038 30ee BC8C                 ldd r11,Y+28
 5039 30f0 CD8C                 ldd r12,Y+29
 5040 30f2 DE8C                 ldd r13,Y+30
 5041 30f4 4D81                 ldd r20,Y+5
 5042 30f6 5E81                 ldd r21,Y+6
 5043 30f8 6F81                 ldd r22,Y+7
 5044 30fa 7885                 ldd r23,Y+8
 5045 30fc A41A                 sub r10,r20
 5046 30fe B50A                 sbc r11,r21
 5047 3100 C60A                 sbc r12,r22
 5048 3102 D70A                 sbc r13,r23
 5049 3104 A092 0000            sts tmp_long2.3309,r10
 5050 3108 B092 0000            sts (tmp_long2.3309)+1,r11
 5051 310c C092 0000            sts (tmp_long2.3309)+2,r12
 5052 3110 D092 0000            sts (tmp_long2.3309)+3,r13
 5053 3114 E092 0000            sts IntegralFehlerNick.3310,r14
 5054 3118 F092 0000            sts (IntegralFehlerNick.3310)+1,r15
 5055 311c 0093 0000            sts (IntegralFehlerNick.3310)+2,r16
 5056 3120 1093 0000            sts (IntegralFehlerNick.3310)+3,r17
 5057 3124 A092 0000            sts IntegralFehlerRoll.3311,r10
 5058 3128 B092 0000            sts (IntegralFehlerRoll.3311)+1,r11
 5059 312c C092 0000            sts (IntegralFehlerRoll.3311)+2,r12
 5060 3130 D092 0000            sts (IntegralFehlerRoll.3311)+3,r13
 5061 3134 8091 0000            lds r24,Mess_IntegralNick2
 5062 3138 9091 0000            lds r25,(Mess_IntegralNick2)+1
 5063 313c A091 0000            lds r26,(Mess_IntegralNick2)+2
 5064 3140 B091 0000            lds r27,(Mess_IntegralNick2)+3
 5065 3144 8E19                 sub r24,r14
 5066 3146 9F09                 sbc r25,r15
 5067 3148 A00B                 sbc r26,r16
 5068 314a B10B                 sbc r27,r17
 5069 314c 8093 0000            sts Mess_IntegralNick2,r24
 5070 3150 9093 0000            sts (Mess_IntegralNick2)+1,r25
 5071 3154 A093 0000            sts (Mess_IntegralNick2)+2,r26
 5072 3158 B093 0000            sts (Mess_IntegralNick2)+3,r27
 5073 315c 8091 0000            lds r24,Mess_IntegralRoll2
 5074 3160 9091 0000            lds r25,(Mess_IntegralRoll2)+1
 5075 3164 A091 0000            lds r26,(Mess_IntegralRoll2)+2
 5076 3168 B091 0000            lds r27,(Mess_IntegralRoll2)+3
 5077 316c 8A19                 sub r24,r10
 5078 316e 9B09                 sbc r25,r11
 5079 3170 AC09                 sbc r26,r12
 5080 3172 BD09                 sbc r27,r13
 5081 3174 8093 0000            sts Mess_IntegralRoll2,r24
 5082 3178 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 5083 317c A093 0000            sts (Mess_IntegralRoll2)+2,r26
 5084 3180 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 5085 3184 2091 0000            lds r18,GierGyroFehler
 5086 3188 3091 0000            lds r19,(GierGyroFehler)+1
 5087 318c 2138                 cpi r18,129
 5088 318e 3105                 cpc r19,__zero_reg__
 5089 3190 04F0                 brlt .L569
 5090 3192 8091 0000            lds r24,AdNeutralGier
 5091 3196 9091 0000            lds r25,(AdNeutralGier)+1
 5092 319a 0196                 adiw r24,1
 5093 319c 9093 0000            sts (AdNeutralGier)+1,r25
 5094 31a0 8093 0000            sts AdNeutralGier,r24
 5095                   .L569:
 5096 31a4 2058                 subi r18,lo8(-128)
 5097 31a6 3F4F                 sbci r19,hi8(-128)
 5098 31a8 04F4                 brge .L571
 5099 31aa 8091 0000            lds r24,AdNeutralGier
 5100 31ae 9091 0000            lds r25,(AdNeutralGier)+1
 5101 31b2 0197                 sbiw r24,1
 5102 31b4 9093 0000            sts (AdNeutralGier)+1,r25
 5103 31b8 8093 0000            sts AdNeutralGier,r24
 5104                   .L571:
 5105 31bc 1092 0000            sts (GierGyroFehler)+1,__zero_reg__
 5106 31c0 1092 0000            sts GierGyroFehler,__zero_reg__
 5107 31c4 81E0                 ldi r24,lo8(1)
 5108 31c6 90E0                 ldi r25,hi8(1)
 5109 31c8 9093 0000            sts (cnt.3330)+1,r25
 5110 31cc 8093 0000            sts cnt.3330,r24
 5111 31d0 A801                 movw r20,r16
 5112 31d2 9701                 movw r18,r14
 5113 31d4 17FF                 sbrs r17,7
 5114 31d6 00C0                 rjmp .L573
 5115 31d8 2227                 clr r18
 5116 31da 3327                 clr r19
 5117 31dc A901                 movw r20,r18
 5118 31de 2E19                 sub r18,r14
 5119 31e0 3F09                 sbc r19,r15
 5120 31e2 400B                 sbc r20,r16
 5121 31e4 510B                 sbc r21,r17
 5122                   .L573:
 5123 31e6 2130                 cpi r18,lo8(513)
 5124 31e8 62E0                 ldi r22,hi8(513)
 5125 31ea 3607                 cpc r19,r22
 5126 31ec 60E0                 ldi r22,hlo8(513)
 5127 31ee 4607                 cpc r20,r22
 5128 31f0 60E0                 ldi r22,hhi8(513)
 5129 31f2 5607                 cpc r21,r22
 5130 31f4 04F0                 brlt .L574
 5131 31f6 84E0                 ldi r24,lo8(4)
 5132 31f8 90E0                 ldi r25,hi8(4)
 5133 31fa 9093 0000            sts (cnt.3330)+1,r25
 5134 31fe 8093 0000            sts cnt.3330,r24
 5135                   .L574:
 5136 3202 8091 0000            lds r24,MittelIntegralNick_Alt.3335
 5137 3206 9091 0000            lds r25,(MittelIntegralNick_Alt.3335)+1
 5138 320a A091 0000            lds r26,(MittelIntegralNick_Alt.3335)+2
 5139 320e B091 0000            lds r27,(MittelIntegralNick_Alt.3335)+3
 5140 3212 8219                 sub r24,r2
 5141 3214 9309                 sbc r25,r3
 5142 3216 A409                 sbc r26,r4
 5143 3218 B509                 sbc r27,r5
 5144 321a 815E                 subi r24,lo8(-(19999))
 5145 321c 914B                 sbci r25,hi8(-(19999))
 5146 321e AF4F                 sbci r26,hlo8(-(19999))
 5147 3220 BF4F                 sbci r27,hhi8(-(19999))
 5148 3222 8F53                 subi r24,lo8(39999)
 5149 3224 9C49                 sbci r25,hi8(39999)
 5150 3226 A040                 sbci r26,hlo8(39999)
 5151 3228 B040                 sbci r27,hhi8(39999)
 5152 322a 00F0                 brlo .L576
 5153 322c 8091 0000            lds r24,FromNaviCtrl_Value+1
 5154 3230 8931                 cpi r24,lo8(25)
 5155 3232 04F4                 brge .+2
 5156 3234 00C0                 rjmp .L578
 5157                   .L576:
 5158 3236 81E0                 ldi r24,lo8(4097)
 5159 3238 E816                 cp r14,r24
 5160 323a 80E1                 ldi r24,hi8(4097)
 5161 323c F806                 cpc r15,r24
 5162 323e 80E0                 ldi r24,hlo8(4097)
 5163 3240 0807                 cpc r16,r24
 5164 3242 80E0                 ldi r24,hhi8(4097)
 5165 3244 1807                 cpc r17,r24
 5166 3246 04F4                 brge .+2
 5167 3248 00C0                 rjmp .L579
 5168 324a 8091 0000            lds r24,last_n_p.3331
 5169 324e 8823                 tst r24
 5170 3250 01F4                 brne .+2
 5171 3252 00C0                 rjmp .L581
 5172 3254 CA01                 movw r24,r20
 5173 3256 B901                 movw r22,r18
 5174 3258 20E0                 ldi r18,lo8(512)
 5175 325a 32E0                 ldi r19,hi8(512)
 5176 325c 40E0                 ldi r20,hlo8(512)
 5177 325e 50E0                 ldi r21,hhi8(512)
 5178 3260 0E94 0000            call __divmodsi4
 5179 3264 8091 0000            lds r24,cnt.3330
 5180 3268 9091 0000            lds r25,(cnt.3330)+1
 5181 326c 820F                 add r24,r18
 5182 326e 931F                 adc r25,r19
 5183 3270 9093 0000            sts (cnt.3330)+1,r25
 5184 3274 8093 0000            sts cnt.3330,r24
 5185 3278 D801                 movw r26,r16
 5186 327a C701                 movw r24,r14
 5187 327c 23E0                 ldi r18,3
 5188 327e B595         1:      asr r27
 5189 3280 A795                 ror r26
 5190 3282 9795                 ror r25
 5191 3284 8795                 ror r24
 5192 3286 2A95                 dec r18
 5193 3288 01F4                 brne 1b
 5194 328a 8093 0000            sts ausgleichNick.3318,r24
 5195 328e 9093 0000            sts (ausgleichNick.3318)+1,r25
 5196 3292 A093 0000            sts (ausgleichNick.3318)+2,r26
 5197 3296 B093 0000            sts (ausgleichNick.3318)+3,r27
 5198 329a 8958                 subi r24,lo8(5001)
 5199 329c 9341                 sbci r25,hi8(5001)
 5200 329e A040                 sbci r26,hlo8(5001)
 5201 32a0 B040                 sbci r27,hhi8(5001)
 5202 32a2 04F0                 brlt .L583
 5203 32a4 88E8                 ldi r24,lo8(5000)
 5204 32a6 93E1                 ldi r25,hi8(5000)
 5205 32a8 A0E0                 ldi r26,hlo8(5000)
 5206 32aa B0E0                 ldi r27,hhi8(5000)
 5207 32ac 8093 0000            sts ausgleichNick.3318,r24
 5208 32b0 9093 0000            sts (ausgleichNick.3318)+1,r25
 5209 32b4 A093 0000            sts (ausgleichNick.3318)+2,r26
 5210 32b8 B093 0000            sts (ausgleichNick.3318)+3,r27
 5211                   .L583:
 5212 32bc 6091 0000            lds r22,ausgleichNick.3318
 5213 32c0 7091 0000            lds r23,(ausgleichNick.3318)+1
 5214 32c4 8091 0000            lds r24,(ausgleichNick.3318)+2
 5215 32c8 9091 0000            lds r25,(ausgleichNick.3318)+3
 5216 32cc 20E0                 ldi r18,lo8(256)
 5217 32ce 31E0                 ldi r19,hi8(256)
 5218 32d0 40E0                 ldi r20,hlo8(256)
 5219 32d2 50E0                 ldi r21,hhi8(256)
 5220 32d4 0E94 0000            call __divmodsi4
 5221 32d8 8091 0000            lds r24,LageKorrekturNick
 5222 32dc 9091 0000            lds r25,(LageKorrekturNick)+1
 5223 32e0 820F                 add r24,r18
 5224 32e2 931F                 adc r25,r19
 5225 32e4 9093 0000            sts (LageKorrekturNick)+1,r25
 5226 32e8 8093 0000            sts LageKorrekturNick,r24
 5227 32ec 00C0                 rjmp .L585
 5228                   .L581:
 5229 32ee 81E0                 ldi r24,lo8(1)
 5230 32f0 8093 0000            sts last_n_p.3331,r24
 5231 32f4 00C0                 rjmp .L585
 5232                   .L579:
 5233 32f6 1092 0000            sts last_n_p.3331,__zero_reg__
 5234 32fa F0E0                 ldi r31,lo8(-4096)
 5235 32fc EF16                 cp r14,r31
 5236 32fe F0EF                 ldi r31,hi8(-4096)
 5237 3300 FF06                 cpc r15,r31
 5238 3302 FFEF                 ldi r31,hlo8(-4096)
 5239 3304 0F07                 cpc r16,r31
 5240 3306 FFEF                 ldi r31,hhi8(-4096)
 5241 3308 1F07                 cpc r17,r31
 5242 330a 04F0                 brlt .+2
 5243 330c 00C0                 rjmp .L585
 5244 330e 8091 0000            lds r24,last_n_n.3332
 5245 3312 8823                 tst r24
 5246 3314 01F4                 brne .+2
 5247 3316 00C0                 rjmp .L587
 5248 3318 CA01                 movw r24,r20
 5249 331a B901                 movw r22,r18
 5250 331c 20E0                 ldi r18,lo8(512)
 5251 331e 32E0                 ldi r19,hi8(512)
 5252 3320 40E0                 ldi r20,hlo8(512)
 5253 3322 50E0                 ldi r21,hhi8(512)
 5254 3324 0E94 0000            call __divmodsi4
 5255 3328 8091 0000            lds r24,cnt.3330
 5256 332c 9091 0000            lds r25,(cnt.3330)+1
 5257 3330 820F                 add r24,r18
 5258 3332 931F                 adc r25,r19
 5259 3334 9093 0000            sts (cnt.3330)+1,r25
 5260 3338 8093 0000            sts cnt.3330,r24
 5261 333c C801                 movw r24,r16
 5262 333e B701                 movw r22,r14
 5263 3340 28E0                 ldi r18,lo8(8)
 5264 3342 30E0                 ldi r19,hi8(8)
 5265 3344 40E0                 ldi r20,hlo8(8)
 5266 3346 50E0                 ldi r21,hhi8(8)
 5267 3348 0E94 0000            call __divmodsi4
 5268 334c 2093 0000            sts ausgleichNick.3318,r18
 5269 3350 3093 0000            sts (ausgleichNick.3318)+1,r19
 5270 3354 4093 0000            sts (ausgleichNick.3318)+2,r20
 5271 3358 5093 0000            sts (ausgleichNick.3318)+3,r21
 5272 335c 2857                 subi r18,lo8(-5000)
 5273 335e 3C4E                 sbci r19,hi8(-5000)
 5274 3360 4F4F                 sbci r20,hlo8(-5000)
 5275 3362 5F4F                 sbci r21,hhi8(-5000)
 5276 3364 04F4                 brge .L589
 5277 3366 88E7                 ldi r24,lo8(-5000)
 5278 3368 9CEE                 ldi r25,hi8(-5000)
 5279 336a AFEF                 ldi r26,hlo8(-5000)
 5280 336c BFEF                 ldi r27,hhi8(-5000)
 5281 336e 8093 0000            sts ausgleichNick.3318,r24
 5282 3372 9093 0000            sts (ausgleichNick.3318)+1,r25
 5283 3376 A093 0000            sts (ausgleichNick.3318)+2,r26
 5284 337a B093 0000            sts (ausgleichNick.3318)+3,r27
 5285                   .L589:
 5286 337e 6091 0000            lds r22,ausgleichNick.3318
 5287 3382 7091 0000            lds r23,(ausgleichNick.3318)+1
 5288 3386 8091 0000            lds r24,(ausgleichNick.3318)+2
 5289 338a 9091 0000            lds r25,(ausgleichNick.3318)+3
 5290 338e 20E0                 ldi r18,lo8(256)
 5291 3390 31E0                 ldi r19,hi8(256)
 5292 3392 40E0                 ldi r20,hlo8(256)
 5293 3394 50E0                 ldi r21,hhi8(256)
 5294 3396 0E94 0000            call __divmodsi4
 5295 339a 8091 0000            lds r24,LageKorrekturNick
 5296 339e 9091 0000            lds r25,(LageKorrekturNick)+1
 5297 33a2 820F                 add r24,r18
 5298 33a4 931F                 adc r25,r19
 5299 33a6 9093 0000            sts (LageKorrekturNick)+1,r25
 5300 33aa 8093 0000            sts LageKorrekturNick,r24
 5301 33ae 00C0                 rjmp .L591
 5302                   .L587:
 5303 33b0 81E0                 ldi r24,lo8(1)
 5304 33b2 8093 0000            sts last_n_n.3332,r24
 5305 33b6 00C0                 rjmp .L591
 5306                   .L585:
 5307 33b8 1092 0000            sts last_n_n.3332,__zero_reg__
 5308 33bc 00C0                 rjmp .L591
 5309                   .L578:
 5310 33be 1092 0000            sts (cnt.3330)+1,__zero_reg__
 5311 33c2 1092 0000            sts cnt.3330,__zero_reg__
 5312 33c6 88EE                 ldi r24,lo8(1000)
 5313 33c8 93E0                 ldi r25,hi8(1000)
 5314 33ca 9093 0000            sts (KompassSignalSchlecht)+1,r25
 5315 33ce 8093 0000            sts KompassSignalSchlecht,r24
 5316                   .L591:
 5317 33d2 7A8D                 ldd r23,Y+26
 5318 33d4 672E                 mov r6,r23
 5319 33d6 7724                 clr r7
 5320 33d8 8091 0000            lds r24,cnt.3330
 5321 33dc 9091 0000            lds r25,(cnt.3330)+1
 5322 33e0 6816                 cp r6,r24
 5323 33e2 7906                 cpc r7,r25
 5324 33e4 04F4                 brge .L592
 5325 33e6 7092 0000            sts (cnt.3330)+1,r7
 5326 33ea 6092 0000            sts cnt.3330,r6
 5327                   .L592:
 5328 33ee 9090 0000            lds r9,FromNaviCtrl_Value+1
 5329 33f2 9920                 tst r9
 5330 33f4 01F0                 breq .L594
 5331 33f6 292D                 mov r18,r9
 5332 33f8 3327                 clr r19
 5333 33fa 27FD                 sbrc r18,7
 5334 33fc 3095                 com r19
 5335 33fe 8091 0000            lds r24,cnt.3330
 5336 3402 9091 0000            lds r25,(cnt.3330)+1
 5337 3406 2817                 cp r18,r24
 5338 3408 3907                 cpc r19,r25
 5339 340a 04F4                 brge .L594
 5340 340c 3093 0000            sts (cnt.3330)+1,r19
 5341 3410 2093 0000            sts cnt.3330,r18
 5342                   .L594:
 5343 3414 81E8                 ldi r24,lo8(129)
 5344 3416 E816                 cp r14,r24
 5345 3418 F104                 cpc r15,__zero_reg__
 5346 341a 0105                 cpc r16,__zero_reg__
 5347 341c 1105                 cpc r17,__zero_reg__
 5348 341e 04F0                 brlt .L597
 5349 3420 8091 0000            lds r24,AdNeutralNick
 5350 3424 9091 0000            lds r25,(AdNeutralNick)+1
 5351 3428 2091 0000            lds r18,cnt.3330
 5352 342c 3091 0000            lds r19,(cnt.3330)+1
 5353 3430 820F                 add r24,r18
 5354 3432 931F                 adc r25,r19
 5355 3434 9093 0000            sts (AdNeutralNick)+1,r25
 5356 3438 8093 0000            sts AdNeutralNick,r24
 5357                   .L597:
 5358 343c 90E8                 ldi r25,lo8(-128)
 5359 343e E916                 cp r14,r25
 5360 3440 9FEF                 ldi r25,hi8(-128)
 5361 3442 F906                 cpc r15,r25
 5362 3444 9FEF                 ldi r25,hlo8(-128)
 5363 3446 0907                 cpc r16,r25
 5364 3448 9FEF                 ldi r25,hhi8(-128)
 5365 344a 1907                 cpc r17,r25
 5366 344c 04F4                 brge .L599
 5367 344e 8091 0000            lds r24,AdNeutralNick
 5368 3452 9091 0000            lds r25,(AdNeutralNick)+1
 5369 3456 2091 0000            lds r18,cnt.3330
 5370 345a 3091 0000            lds r19,(cnt.3330)+1
 5371 345e 821B                 sub r24,r18
 5372 3460 930B                 sbc r25,r19
 5373 3462 9093 0000            sts (AdNeutralNick)+1,r25
 5374 3466 8093 0000            sts AdNeutralNick,r24
 5375                   .L599:
 5376 346a 81E0                 ldi r24,lo8(1)
 5377 346c 90E0                 ldi r25,hi8(1)
 5378 346e 9093 0000            sts (cnt.3330)+1,r25
 5379 3472 8093 0000            sts cnt.3330,r24
 5380 3476 A601                 movw r20,r12
 5381 3478 9501                 movw r18,r10
 5382 347a D7FE                 sbrs r13,7
 5383 347c 00C0                 rjmp .L601
 5384 347e 2227                 clr r18
 5385 3480 3327                 clr r19
 5386 3482 A901                 movw r20,r18
 5387 3484 2A19                 sub r18,r10
 5388 3486 3B09                 sbc r19,r11
 5389 3488 4C09                 sbc r20,r12
 5390 348a 5D09                 sbc r21,r13
 5391                   .L601:
 5392 348c 2130                 cpi r18,lo8(513)
 5393 348e A2E0                 ldi r26,hi8(513)
 5394 3490 3A07                 cpc r19,r26
 5395 3492 A0E0                 ldi r26,hlo8(513)
 5396 3494 4A07                 cpc r20,r26
 5397 3496 A0E0                 ldi r26,hhi8(513)
 5398 3498 5A07                 cpc r21,r26
 5399 349a 04F0                 brlt .L602
 5400 349c 84E0                 ldi r24,lo8(4)
 5401 349e 90E0                 ldi r25,hi8(4)
 5402 34a0 9093 0000            sts (cnt.3330)+1,r25
 5403 34a4 8093 0000            sts cnt.3330,r24
 5404                   .L602:
 5405 34a8 8091 0000            lds r24,MittelIntegralRoll_Alt.3336
 5406 34ac 9091 0000            lds r25,(MittelIntegralRoll_Alt.3336)+1
 5407 34b0 A091 0000            lds r26,(MittelIntegralRoll_Alt.3336)+2
 5408 34b4 B091 0000            lds r27,(MittelIntegralRoll_Alt.3336)+3
 5409 34b8 EE88                 ldd r14,Y+22
 5410 34ba FF88                 ldd r15,Y+23
 5411 34bc 088D                 ldd r16,Y+24
 5412 34be 198D                 ldd r17,Y+25
 5413 34c0 8E19                 sub r24,r14
 5414 34c2 9F09                 sbc r25,r15
 5415 34c4 A00B                 sbc r26,r16
 5416 34c6 B10B                 sbc r27,r17
 5417 34c8 815E                 subi r24,lo8(-(19999))
 5418 34ca 914B                 sbci r25,hi8(-(19999))
 5419 34cc AF4F                 sbci r26,hlo8(-(19999))
 5420 34ce BF4F                 sbci r27,hhi8(-(19999))
 5421 34d0 8F53                 subi r24,lo8(39999)
 5422 34d2 9C49                 sbci r25,hi8(39999)
 5423 34d4 A040                 sbci r26,hlo8(39999)
 5424 34d6 B040                 sbci r27,hhi8(39999)
 5425 34d8 00F0                 brlo .L604
 5426 34da 18E1                 ldi r17,lo8(24)
 5427 34dc 1915                 cp r17,r9
 5428 34de 04F0                 brlt .+2
 5429 34e0 00C0                 rjmp .L606
 5430                   .L604:
 5431 34e2 61E0                 ldi r22,lo8(4097)
 5432 34e4 A616                 cp r10,r22
 5433 34e6 60E1                 ldi r22,hi8(4097)
 5434 34e8 B606                 cpc r11,r22
 5435 34ea 60E0                 ldi r22,hlo8(4097)
 5436 34ec C606                 cpc r12,r22
 5437 34ee 60E0                 ldi r22,hhi8(4097)
 5438 34f0 D606                 cpc r13,r22
 5439 34f2 04F4                 brge .+2
 5440 34f4 00C0                 rjmp .L607
 5441 34f6 8091 0000            lds r24,last_r_p.3333
 5442 34fa 8823                 tst r24
 5443 34fc 01F4                 brne .+2
 5444 34fe 00C0                 rjmp .L609
 5445 3500 CA01                 movw r24,r20
 5446 3502 B901                 movw r22,r18
 5447 3504 20E0                 ldi r18,lo8(512)
 5448 3506 32E0                 ldi r19,hi8(512)
 5449 3508 40E0                 ldi r20,hlo8(512)
 5450 350a 50E0                 ldi r21,hhi8(512)
 5451 350c 0E94 0000            call __divmodsi4
 5452 3510 8091 0000            lds r24,cnt.3330
 5453 3514 9091 0000            lds r25,(cnt.3330)+1
 5454 3518 820F                 add r24,r18
 5455 351a 931F                 adc r25,r19
 5456 351c 9093 0000            sts (cnt.3330)+1,r25
 5457 3520 8093 0000            sts cnt.3330,r24
 5458 3524 D601                 movw r26,r12
 5459 3526 C501                 movw r24,r10
 5460 3528 13E0                 ldi r17,3
 5461 352a B595         1:      asr r27
 5462 352c A795                 ror r26
 5463 352e 9795                 ror r25
 5464 3530 8795                 ror r24
 5465 3532 1A95                 dec r17
 5466 3534 01F4                 brne 1b
 5467 3536 8093 0000            sts ausgleichRoll.3319,r24
 5468 353a 9093 0000            sts (ausgleichRoll.3319)+1,r25
 5469 353e A093 0000            sts (ausgleichRoll.3319)+2,r26
 5470 3542 B093 0000            sts (ausgleichRoll.3319)+3,r27
 5471 3546 8958                 subi r24,lo8(5001)
 5472 3548 9341                 sbci r25,hi8(5001)
 5473 354a A040                 sbci r26,hlo8(5001)
 5474 354c B040                 sbci r27,hhi8(5001)
 5475 354e 04F0                 brlt .L611
 5476 3550 88E8                 ldi r24,lo8(5000)
 5477 3552 93E1                 ldi r25,hi8(5000)
 5478 3554 A0E0                 ldi r26,hlo8(5000)
 5479 3556 B0E0                 ldi r27,hhi8(5000)
 5480 3558 8093 0000            sts ausgleichRoll.3319,r24
 5481 355c 9093 0000            sts (ausgleichRoll.3319)+1,r25
 5482 3560 A093 0000            sts (ausgleichRoll.3319)+2,r26
 5483 3564 B093 0000            sts (ausgleichRoll.3319)+3,r27
 5484                   .L611:
 5485 3568 6091 0000            lds r22,ausgleichRoll.3319
 5486 356c 7091 0000            lds r23,(ausgleichRoll.3319)+1
 5487 3570 8091 0000            lds r24,(ausgleichRoll.3319)+2
 5488 3574 9091 0000            lds r25,(ausgleichRoll.3319)+3
 5489 3578 20E0                 ldi r18,lo8(256)
 5490 357a 31E0                 ldi r19,hi8(256)
 5491 357c 40E0                 ldi r20,hlo8(256)
 5492 357e 50E0                 ldi r21,hhi8(256)
 5493 3580 0E94 0000            call __divmodsi4
 5494 3584 8091 0000            lds r24,LageKorrekturRoll
 5495 3588 9091 0000            lds r25,(LageKorrekturRoll)+1
 5496 358c 820F                 add r24,r18
 5497 358e 931F                 adc r25,r19
 5498 3590 9093 0000            sts (LageKorrekturRoll)+1,r25
 5499 3594 8093 0000            sts LageKorrekturRoll,r24
 5500 3598 00C0                 rjmp .L613
 5501                   .L609:
 5502 359a 81E0                 ldi r24,lo8(1)
 5503 359c 8093 0000            sts last_r_p.3333,r24
 5504 35a0 00C0                 rjmp .L613
 5505                   .L607:
 5506 35a2 1092 0000            sts last_r_p.3333,__zero_reg__
 5507 35a6 80E0                 ldi r24,lo8(-4096)
 5508 35a8 A816                 cp r10,r24
 5509 35aa 80EF                 ldi r24,hi8(-4096)
 5510 35ac B806                 cpc r11,r24
 5511 35ae 8FEF                 ldi r24,hlo8(-4096)
 5512 35b0 C806                 cpc r12,r24
 5513 35b2 8FEF                 ldi r24,hhi8(-4096)
 5514 35b4 D806                 cpc r13,r24
 5515 35b6 04F0                 brlt .+2
 5516 35b8 00C0                 rjmp .L613
 5517 35ba 8091 0000            lds r24,last_r_n.3334
 5518 35be 8823                 tst r24
 5519 35c0 01F4                 brne .+2
 5520 35c2 00C0                 rjmp .L615
 5521 35c4 CA01                 movw r24,r20
 5522 35c6 B901                 movw r22,r18
 5523 35c8 20E0                 ldi r18,lo8(512)
 5524 35ca 32E0                 ldi r19,hi8(512)
 5525 35cc 40E0                 ldi r20,hlo8(512)
 5526 35ce 50E0                 ldi r21,hhi8(512)
 5527 35d0 0E94 0000            call __divmodsi4
 5528 35d4 8091 0000            lds r24,cnt.3330
 5529 35d8 9091 0000            lds r25,(cnt.3330)+1
 5530 35dc 820F                 add r24,r18
 5531 35de 931F                 adc r25,r19
 5532 35e0 9093 0000            sts (cnt.3330)+1,r25
 5533 35e4 8093 0000            sts cnt.3330,r24
 5534 35e8 C601                 movw r24,r12
 5535 35ea B501                 movw r22,r10
 5536 35ec 28E0                 ldi r18,lo8(8)
 5537 35ee 30E0                 ldi r19,hi8(8)
 5538 35f0 40E0                 ldi r20,hlo8(8)
 5539 35f2 50E0                 ldi r21,hhi8(8)
 5540 35f4 0E94 0000            call __divmodsi4
 5541 35f8 2093 0000            sts ausgleichRoll.3319,r18
 5542 35fc 3093 0000            sts (ausgleichRoll.3319)+1,r19
 5543 3600 4093 0000            sts (ausgleichRoll.3319)+2,r20
 5544 3604 5093 0000            sts (ausgleichRoll.3319)+3,r21
 5545 3608 2857                 subi r18,lo8(-5000)
 5546 360a 3C4E                 sbci r19,hi8(-5000)
 5547 360c 4F4F                 sbci r20,hlo8(-5000)
 5548 360e 5F4F                 sbci r21,hhi8(-5000)
 5549 3610 04F4                 brge .L617
 5550 3612 88E7                 ldi r24,lo8(-5000)
 5551 3614 9CEE                 ldi r25,hi8(-5000)
 5552 3616 AFEF                 ldi r26,hlo8(-5000)
 5553 3618 BFEF                 ldi r27,hhi8(-5000)
 5554 361a 8093 0000            sts ausgleichRoll.3319,r24
 5555 361e 9093 0000            sts (ausgleichRoll.3319)+1,r25
 5556 3622 A093 0000            sts (ausgleichRoll.3319)+2,r26
 5557 3626 B093 0000            sts (ausgleichRoll.3319)+3,r27
 5558                   .L617:
 5559 362a 6091 0000            lds r22,ausgleichRoll.3319
 5560 362e 7091 0000            lds r23,(ausgleichRoll.3319)+1
 5561 3632 8091 0000            lds r24,(ausgleichRoll.3319)+2
 5562 3636 9091 0000            lds r25,(ausgleichRoll.3319)+3
 5563 363a 20E0                 ldi r18,lo8(256)
 5564 363c 31E0                 ldi r19,hi8(256)
 5565 363e 40E0                 ldi r20,hlo8(256)
 5566 3640 50E0                 ldi r21,hhi8(256)
 5567 3642 0E94 0000            call __divmodsi4
 5568 3646 8091 0000            lds r24,LageKorrekturRoll
 5569 364a 9091 0000            lds r25,(LageKorrekturRoll)+1
 5570 364e 820F                 add r24,r18
 5571 3650 931F                 adc r25,r19
 5572 3652 9093 0000            sts (LageKorrekturRoll)+1,r25
 5573 3656 8093 0000            sts LageKorrekturRoll,r24
 5574 365a 00C0                 rjmp .L619
 5575                   .L615:
 5576 365c 81E0                 ldi r24,lo8(1)
 5577 365e 8093 0000            sts last_r_n.3334,r24
 5578 3662 00C0                 rjmp .L619
 5579                   .L613:
 5580 3664 1092 0000            sts last_r_n.3334,__zero_reg__
 5581 3668 00C0                 rjmp .L619
 5582                   .L606:
 5583 366a 1092 0000            sts (cnt.3330)+1,__zero_reg__
 5584 366e 1092 0000            sts cnt.3330,__zero_reg__
 5585 3672 88EE                 ldi r24,lo8(1000)
 5586 3674 93E0                 ldi r25,hi8(1000)
 5587 3676 9093 0000            sts (KompassSignalSchlecht)+1,r25
 5588 367a 8093 0000            sts KompassSignalSchlecht,r24
 5589                   .L619:
 5590 367e 8091 0000            lds r24,cnt.3330
 5591 3682 9091 0000            lds r25,(cnt.3330)+1
 5592 3686 6816                 cp r6,r24
 5593 3688 7906                 cpc r7,r25
 5594 368a 04F4                 brge .L620
 5595 368c 7092 0000            sts (cnt.3330)+1,r7
 5596 3690 6092 0000            sts cnt.3330,r6
 5597                   .L620:
 5598 3694 9920                 tst r9
 5599 3696 01F0                 breq .L622
 5600 3698 292D                 mov r18,r9
 5601 369a 3327                 clr r19
 5602 369c 27FD                 sbrc r18,7
 5603 369e 3095                 com r19
 5604 36a0 8091 0000            lds r24,cnt.3330
 5605 36a4 9091 0000            lds r25,(cnt.3330)+1
 5606 36a8 2817                 cp r18,r24
 5607 36aa 3907                 cpc r19,r25
 5608 36ac 04F4                 brge .L622
 5609 36ae 3093 0000            sts (cnt.3330)+1,r19
 5610 36b2 2093 0000            sts cnt.3330,r18
 5611                   .L622:
 5612 36b6 A1E8                 ldi r26,lo8(129)
 5613 36b8 AA16                 cp r10,r26
 5614 36ba B104                 cpc r11,__zero_reg__
 5615 36bc C104                 cpc r12,__zero_reg__
 5616 36be D104                 cpc r13,__zero_reg__
 5617 36c0 04F0                 brlt .L625
 5618 36c2 8091 0000            lds r24,AdNeutralRoll
 5619 36c6 9091 0000            lds r25,(AdNeutralRoll)+1
 5620 36ca 2091 0000            lds r18,cnt.3330
 5621 36ce 3091 0000            lds r19,(cnt.3330)+1
 5622 36d2 820F                 add r24,r18
 5623 36d4 931F                 adc r25,r19
 5624 36d6 9093 0000            sts (AdNeutralRoll)+1,r25
 5625 36da 8093 0000            sts AdNeutralRoll,r24
 5626                   .L625:
 5627 36de B0E8                 ldi r27,lo8(-128)
 5628 36e0 AB16                 cp r10,r27
 5629 36e2 BFEF                 ldi r27,hi8(-128)
 5630 36e4 BB06                 cpc r11,r27
 5631 36e6 BFEF                 ldi r27,hlo8(-128)
 5632 36e8 CB06                 cpc r12,r27
 5633 36ea BFEF                 ldi r27,hhi8(-128)
 5634 36ec DB06                 cpc r13,r27
 5635 36ee 04F4                 brge .L627
 5636 36f0 8091 0000            lds r24,AdNeutralRoll
 5637 36f4 9091 0000            lds r25,(AdNeutralRoll)+1
 5638 36f8 2091 0000            lds r18,cnt.3330
 5639 36fc 3091 0000            lds r19,(cnt.3330)+1
 5640 3700 821B                 sub r24,r18
 5641 3702 930B                 sbc r25,r19
 5642 3704 9093 0000            sts (AdNeutralRoll)+1,r25
 5643 3708 8093 0000            sts AdNeutralRoll,r24
 5644 370c 00C0                 rjmp .L627
 5645                   .L558:
 5646 370e 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 5647 3712 1092 0000            sts LageKorrekturRoll,__zero_reg__
 5648 3716 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 5649 371a 1092 0000            sts LageKorrekturNick,__zero_reg__
 5650 371e 1092 0000            sts TrichterFlug,__zero_reg__
 5651                   .L627:
 5652 3722 8091 0000            lds r24,IntegralFaktor
 5653 3726 8823                 tst r24
 5654 3728 01F4                 brne .L629
 5655 372a 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 5656 372e 1092 0000            sts LageKorrekturRoll,__zero_reg__
 5657 3732 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 5658 3736 1092 0000            sts LageKorrekturNick,__zero_reg__
 5659                   .L629:
 5660 373a 8091 0000            lds r24,MittelIntegralNick
 5661 373e 9091 0000            lds r25,(MittelIntegralNick)+1
 5662 3742 A091 0000            lds r26,(MittelIntegralNick)+2
 5663 3746 B091 0000            lds r27,(MittelIntegralNick)+3
 5664 374a 8093 0000            sts MittelIntegralNick_Alt.3335,r24
 5665 374e 9093 0000            sts (MittelIntegralNick_Alt.3335)+1,r25
 5666 3752 A093 0000            sts (MittelIntegralNick_Alt.3335)+2,r26
 5667 3756 B093 0000            sts (MittelIntegralNick_Alt.3335)+3,r27
 5668 375a 8091 0000            lds r24,MittelIntegralRoll
 5669 375e 9091 0000            lds r25,(MittelIntegralRoll)+1
 5670 3762 A091 0000            lds r26,(MittelIntegralRoll)+2
 5671 3766 B091 0000            lds r27,(MittelIntegralRoll)+3
 5672 376a 8093 0000            sts MittelIntegralRoll_Alt.3336,r24
 5673 376e 9093 0000            sts (MittelIntegralRoll_Alt.3336)+1,r25
 5674 3772 A093 0000            sts (MittelIntegralRoll_Alt.3336)+2,r26
 5675 3776 B093 0000            sts (MittelIntegralRoll_Alt.3336)+3,r27
 5676 377a 1092 0000            sts IntegralAccNick,__zero_reg__
 5677 377e 1092 0000            sts (IntegralAccNick)+1,__zero_reg__
 5678 3782 1092 0000            sts (IntegralAccNick)+2,__zero_reg__
 5679 3786 1092 0000            sts (IntegralAccNick)+3,__zero_reg__
 5680 378a 1092 0000            sts IntegralAccRoll,__zero_reg__
 5681 378e 1092 0000            sts (IntegralAccRoll)+1,__zero_reg__
 5682 3792 1092 0000            sts (IntegralAccRoll)+2,__zero_reg__
 5683 3796 1092 0000            sts (IntegralAccRoll)+3,__zero_reg__
 5684 379a 1092 0000            sts IntegralAccZ,__zero_reg__
 5685 379e 1092 0000            sts (IntegralAccZ)+1,__zero_reg__
 5686 37a2 1092 0000            sts (IntegralAccZ)+2,__zero_reg__
 5687 37a6 1092 0000            sts (IntegralAccZ)+3,__zero_reg__
 5688 37aa 1092 0000            sts MittelIntegralNick,__zero_reg__
 5689 37ae 1092 0000            sts (MittelIntegralNick)+1,__zero_reg__
 5690 37b2 1092 0000            sts (MittelIntegralNick)+2,__zero_reg__
 5691 37b6 1092 0000            sts (MittelIntegralNick)+3,__zero_reg__
 5692 37ba 1092 0000            sts MittelIntegralRoll,__zero_reg__
 5693 37be 1092 0000            sts (MittelIntegralRoll)+1,__zero_reg__
 5694 37c2 1092 0000            sts (MittelIntegralRoll)+2,__zero_reg__
 5695 37c6 1092 0000            sts (MittelIntegralRoll)+3,__zero_reg__
 5696 37ca 1092 0000            sts MittelIntegralNick2,__zero_reg__
 5697 37ce 1092 0000            sts (MittelIntegralNick2)+1,__zero_reg__
 5698 37d2 1092 0000            sts (MittelIntegralNick2)+2,__zero_reg__
 5699 37d6 1092 0000            sts (MittelIntegralNick2)+3,__zero_reg__
 5700 37da 1092 0000            sts MittelIntegralRoll2,__zero_reg__
 5701 37de 1092 0000            sts (MittelIntegralRoll2)+1,__zero_reg__
 5702 37e2 1092 0000            sts (MittelIntegralRoll2)+2,__zero_reg__
 5703 37e6 1092 0000            sts (MittelIntegralRoll2)+3,__zero_reg__
 5704 37ea 1092 0000            sts (ZaehlMessungen)+1,__zero_reg__
 5705 37ee 1092 0000            sts ZaehlMessungen,__zero_reg__
 5706                   .L556:
 5707 37f2 C090 0000            lds r12,StickGier
 5708 37f6 D090 0000            lds r13,(StickGier)+1
 5709 37fa 8601                 movw r16,r12
 5710 37fc D7FE                 sbrs r13,7
 5711 37fe 00C0                 rjmp .L631
 5712 3800 0027                 clr r16
 5713 3802 1127                 clr r17
 5714 3804 0C19                 sub r16,r12
 5715 3806 1D09                 sbc r17,r13
 5716                   .L631:
 5717 3808 0031                 cpi r16,16
 5718 380a 1105                 cpc r17,__zero_reg__
 5719 380c 04F0                 brlt .L632
 5720 380e 88EE                 ldi r24,lo8(1000)
 5721 3810 93E0                 ldi r25,hi8(1000)
 5722 3812 9093 0000            sts (KompassSignalSchlecht)+1,r25
 5723 3816 8093 0000            sts KompassSignalSchlecht,r24
 5724 381a 8091 0000            lds r24,EE_Parameter+13
 5725 381e 84FD                 sbrc r24,4
 5726 3820 00C0                 rjmp .L632
 5727 3822 81E0                 ldi r24,lo8(1)
 5728 3824 8093 0000            sts NeueKompassRichtungMerken.3317,r24
 5729                   .L632:
 5730 3828 E090 0000            lds r14,EE_Parameter+25
 5731 382c B601                 movw r22,r12
 5732 382e 8827                 clr r24
 5733 3830 77FD                 sbrc r23,7
 5734 3832 8095                 com r24
 5735 3834 982F                 mov r25,r24
 5736 3836 2E2D                 mov r18,r14
 5737 3838 30E0                 ldi r19,lo8(0)
 5738 383a 40E0                 ldi r20,lo8(0)
 5739 383c 50E0                 ldi r21,hi8(0)
 5740 383e 0E94 0000            call __mulsi3
 5741 3842 9801                 movw r18,r16
 5742 3844 4427                 clr r20
 5743 3846 37FD                 sbrc r19,7
 5744 3848 4095                 com r20
 5745 384a 542F                 mov r21,r20
 5746 384c 0E94 0000            call __mulsi3
 5747 3850 20E0                 ldi r18,lo8(512)
 5748 3852 32E0                 ldi r19,hi8(512)
 5749 3854 40E0                 ldi r20,hlo8(512)
 5750 3856 50E0                 ldi r21,hhi8(512)
 5751 3858 0E94 0000            call __divmodsi4
 5752 385c 8901                 movw r16,r18
 5753 385e 9A01                 movw r18,r20
 5754 3860 FF24                 clr r15
 5755 3862 EC9C                 mul r14,r12
 5756 3864 C001                 movw r24,r0
 5757 3866 ED9C                 mul r14,r13
 5758 3868 900D                 add r25,r0
 5759 386a FC9C                 mul r15,r12
 5760 386c 900D                 add r25,r0
 5761 386e 1124                 clr r1
 5762 3870 64E0                 ldi r22,lo8(4)
 5763 3872 70E0                 ldi r23,hi8(4)
 5764 3874 0E94 0000            call __divmodhi4
 5765 3878 600F                 add r22,r16
 5766 387a 711F                 adc r23,r17
 5767 387c 8827                 clr r24
 5768 387e 77FD                 sbrc r23,7
 5769 3880 8095                 com r24
 5770 3882 982F                 mov r25,r24
 5771 3884 6093 0000            sts sollGier.3307,r22
 5772 3888 7093 0000            sts (sollGier.3307)+1,r23
 5773 388c 8093 0000            sts (sollGier.3307)+2,r24
 5774 3890 9093 0000            sts (sollGier.3307)+3,r25
 5775 3894 2091 0000            lds r18,Mess_Integral_Gier
 5776 3898 3091 0000            lds r19,(Mess_Integral_Gier)+1
 5777 389c 4091 0000            lds r20,(Mess_Integral_Gier)+2
 5778 38a0 5091 0000            lds r21,(Mess_Integral_Gier)+3
 5779 38a4 261B                 sub r18,r22
 5780 38a6 370B                 sbc r19,r23
 5781 38a8 480B                 sbc r20,r24
 5782 38aa 590B                 sbc r21,r25
 5783 38ac 2093 0000            sts Mess_Integral_Gier,r18
 5784 38b0 3093 0000            sts (Mess_Integral_Gier)+1,r19
 5785 38b4 4093 0000            sts (Mess_Integral_Gier)+2,r20
 5786 38b8 5093 0000            sts (Mess_Integral_Gier)+3,r21
 5787 38bc 2155                 subi r18,lo8(50001)
 5788 38be 334C                 sbci r19,hi8(50001)
 5789 38c0 4040                 sbci r20,hlo8(50001)
 5790 38c2 5040                 sbci r21,hhi8(50001)
 5791 38c4 04F0                 brlt .L635
 5792 38c6 80E5                 ldi r24,lo8(50000)
 5793 38c8 93EC                 ldi r25,hi8(50000)
 5794 38ca A0E0                 ldi r26,hlo8(50000)
 5795 38cc B0E0                 ldi r27,hhi8(50000)
 5796 38ce 8093 0000            sts Mess_Integral_Gier,r24
 5797 38d2 9093 0000            sts (Mess_Integral_Gier)+1,r25
 5798 38d6 A093 0000            sts (Mess_Integral_Gier)+2,r26
 5799 38da B093 0000            sts (Mess_Integral_Gier)+3,r27
 5800                   .L635:
 5801 38de 8091 0000            lds r24,Mess_Integral_Gier
 5802 38e2 9091 0000            lds r25,(Mess_Integral_Gier)+1
 5803 38e6 A091 0000            lds r26,(Mess_Integral_Gier)+2
 5804 38ea B091 0000            lds r27,(Mess_Integral_Gier)+3
 5805 38ee 805B                 subi r24,lo8(-50000)
 5806 38f0 9C43                 sbci r25,hi8(-50000)
 5807 38f2 AF4F                 sbci r26,hlo8(-50000)
 5808 38f4 BF4F                 sbci r27,hhi8(-50000)
 5809 38f6 04F4                 brge .L637
 5810 38f8 80EB                 ldi r24,lo8(-50000)
 5811 38fa 9CE3                 ldi r25,hi8(-50000)
 5812 38fc AFEF                 ldi r26,hlo8(-50000)
 5813 38fe BFEF                 ldi r27,hhi8(-50000)
 5814 3900 8093 0000            sts Mess_Integral_Gier,r24
 5815 3904 9093 0000            sts (Mess_Integral_Gier)+1,r25
 5816 3908 A093 0000            sts (Mess_Integral_Gier)+2,r26
 5817 390c B093 0000            sts (Mess_Integral_Gier)+3,r27
 5818                   .L637:
 5819 3910 8090 0000            lds r8,KompassValue
 5820 3914 9090 0000            lds r9,(KompassValue)+1
 5821 3918 8114                 cp r8,__zero_reg__
 5822 391a 9104                 cpc r9,__zero_reg__
 5823 391c 01F4                 brne .+2
 5824 391e 00C0                 rjmp .L639
 5825 3920 8091 0000            lds r24,EE_Parameter+13
 5826 3924 83FF                 sbrs r24,3
 5827 3926 00C0                 rjmp .L639
 5828 3928 6981                 ldd r22,Y+1
 5829 392a 7A81                 ldd r23,Y+2
 5830 392c 8B81                 ldd r24,Y+3
 5831 392e 9C81                 ldd r25,Y+4
 5832 3930 20E0                 ldi r18,lo8(512)
 5833 3932 32E0                 ldi r19,hi8(512)
 5834 3934 40E0                 ldi r20,hlo8(512)
 5835 3936 50E0                 ldi r21,hhi8(512)
 5836 3938 0E94 0000            call __divmodsi4
 5837 393c 8901                 movw r16,r18
 5838 393e 37FF                 sbrs r19,7
 5839 3940 00C0                 rjmp .L642
 5840 3942 1095                 com r17
 5841 3944 0195                 neg r16
 5842 3946 1F4F                 sbci r17,lo8(-1)
 5843                   .L642:
 5844 3948 6D81                 ldd r22,Y+5
 5845 394a 7E81                 ldd r23,Y+6
 5846 394c 8F81                 ldd r24,Y+7
 5847 394e 9885                 ldd r25,Y+8
 5848 3950 20E0                 ldi r18,lo8(512)
 5849 3952 32E0                 ldi r19,hi8(512)
 5850 3954 40E0                 ldi r20,hlo8(512)
 5851 3956 50E0                 ldi r21,hhi8(512)
 5852 3958 0E94 0000            call __divmodsi4
 5853 395c 6901                 movw r12,r18
 5854 395e 37FF                 sbrs r19,7
 5855 3960 00C0                 rjmp .L643
 5856 3962 D094                 com r13
 5857 3964 C194                 neg r12
 5858 3966 D108                 sbc r13,__zero_reg__
 5859 3968 D394                 inc r13
 5860                   .L643:
 5861 396a C016                 cp r12,r16
 5862 396c D106                 cpc r13,r17
 5863 396e 04F4                 brge .L644
 5864 3970 6801                 movw r12,r16
 5865                   .L644:
 5866 3972 4090 0000            lds r4,GIER_GRAD_FAKTOR
 5867 3976 5090 0000            lds r5,(GIER_GRAD_FAKTOR)+1
 5868 397a 6090 0000            lds r6,(GIER_GRAD_FAKTOR)+2
 5869 397e 7090 0000            lds r7,(GIER_GRAD_FAKTOR)+3
 5870 3982 ACE1                 ldi r26,lo8(540)
 5871 3984 EA2E                 mov r14,r26
 5872 3986 A2E0                 ldi r26,hi8(540)
 5873 3988 FA2E                 mov r15,r26
 5874 398a 8E0C                 add r8,r14
 5875 398c 9F1C                 adc r9,r15
 5876 398e 7401                 movw r14,r8
 5877 3990 0027                 clr r16
 5878 3992 F7FC                 sbrc r15,7
 5879 3994 0095                 com r16
 5880 3996 102F                 mov r17,r16
 5881 3998 24EE                 ldi r18,lo8(-540)
 5882 399a 3DEF                 ldi r19,hi8(-540)
 5883 399c 820E                 add r8,r18
 5884 399e 931E                 adc r9,r19
 5885 39a0 6091 0000            lds r22,ErsatzKompass
 5886 39a4 7091 0000            lds r23,(ErsatzKompass)+1
 5887 39a8 8091 0000            lds r24,(ErsatzKompass)+2
 5888 39ac 9091 0000            lds r25,(ErsatzKompass)+3
 5889 39b0 A301                 movw r20,r6
 5890 39b2 9201                 movw r18,r4
 5891 39b4 0E94 0000            call __divmodsi4
 5892 39b8 E21A                 sub r14,r18
 5893 39ba F30A                 sbc r15,r19
 5894 39bc 040B                 sbc r16,r20
 5895 39be 150B                 sbc r17,r21
 5896 39c0 C801                 movw r24,r16
 5897 39c2 B701                 movw r22,r14
 5898 39c4 28E6                 ldi r18,lo8(360)
 5899 39c6 31E0                 ldi r19,hi8(360)
 5900 39c8 40E0                 ldi r20,hlo8(360)
 5901 39ca 50E0                 ldi r21,hhi8(360)
 5902 39cc 0E94 0000            call __divmodsi4
 5903 39d0 FCE4                 ldi r31,lo8(-180)
 5904 39d2 AF2E                 mov r10,r31
 5905 39d4 FFEF                 ldi r31,hi8(-180)
 5906 39d6 BF2E                 mov r11,r31
 5907 39d8 A60E                 add r10,r22
 5908 39da B71E                 adc r11,r23
 5909 39dc E090 0000            lds r14,KompassSignalSchlecht
 5910 39e0 F090 0000            lds r15,(KompassSignalSchlecht)+1
 5911 39e4 E114                 cp r14,__zero_reg__
 5912 39e6 F104                 cpc r15,__zero_reg__
 5913 39e8 01F4                 brne .L645
 5914 39ea 39E1                 ldi r19,lo8(25)
 5915 39ec C316                 cp r12,r19
 5916 39ee D104                 cpc r13,__zero_reg__
 5917 39f0 04F4                 brge .L645
 5918 39f2 8091 0000            lds r24,GierGyroFehler
 5919 39f6 9091 0000            lds r25,(GierGyroFehler)+1
 5920 39fa 8A0D                 add r24,r10
 5921 39fc 9B1D                 adc r25,r11
 5922 39fe 9093 0000            sts (GierGyroFehler)+1,r25
 5923 3a02 8093 0000            sts GierGyroFehler,r24
 5924 3a06 8091 0000            lds r24,NeueKompassRichtungMerken.3317
 5925 3a0a 8823                 tst r24
 5926 3a0c 01F0                 breq .L645
 5927 3a0e B401                 movw r22,r8
 5928 3a10 8827                 clr r24
 5929 3a12 77FD                 sbrc r23,7
 5930 3a14 8095                 com r24
 5931 3a16 982F                 mov r25,r24
 5932 3a18 A301                 movw r20,r6
 5933 3a1a 9201                 movw r18,r4
 5934 3a1c 0E94 0000            call __mulsi3
 5935 3a20 6093 0000            sts ErsatzKompass,r22
 5936 3a24 7093 0000            sts (ErsatzKompass)+1,r23
 5937 3a28 8093 0000            sts (ErsatzKompass)+2,r24
 5938 3a2c 9093 0000            sts (ErsatzKompass)+3,r25
 5939 3a30 0E94 0000            call __divmodsi4
 5940 3a34 3093 0000            sts (KompassStartwert)+1,r19
 5941 3a38 2093 0000            sts KompassStartwert,r18
 5942 3a3c 1092 0000            sts NeueKompassRichtungMerken.3317,__zero_reg__
 5943                   .L645:
 5944 3a40 0091 0000            lds r16,ErsatzKompass
 5945 3a44 1091 0000            lds r17,(ErsatzKompass)+1
 5946 3a48 2091 0000            lds r18,(ErsatzKompass)+2
 5947 3a4c 3091 0000            lds r19,(ErsatzKompass)+3
 5948 3a50 C601                 movw r24,r12
 5949 3a52 68E0                 ldi r22,lo8(8)
 5950 3a54 70E0                 ldi r23,hi8(8)
 5951 3a56 0E94 0000            call __divmodhi4
 5952 3a5a 6E5F                 subi r22,lo8(-(2))
 5953 3a5c 7F4F                 sbci r23,hi8(-(2))
 5954 3a5e C501                 movw r24,r10
 5955 3a60 E4E0                 ldi r30,4
 5956 3a62 880F         1:      lsl r24
 5957 3a64 991F                 rol r25
 5958 3a66 EA95                 dec r30
 5959 3a68 01F4                 brne 1b
 5960 3a6a 0E94 0000            call __divmodhi4
 5961 3a6e 4B01                 movw r8,r22
 5962 3a70 AA24                 clr r10
 5963 3a72 97FC                 sbrc r9,7
 5964 3a74 A094                 com r10
 5965 3a76 BA2C                 mov r11,r10
 5966 3a78 800E                 add r8,r16
 5967 3a7a 911E                 adc r9,r17
 5968 3a7c A21E                 adc r10,r18
 5969 3a7e B31E                 adc r11,r19
 5970 3a80 8092 0000            sts ErsatzKompass,r8
 5971 3a84 9092 0000            sts (ErsatzKompass)+1,r9
 5972 3a88 A092 0000            sts (ErsatzKompass)+2,r10
 5973 3a8c B092 0000            sts (ErsatzKompass)+3,r11
 5974 3a90 8091 0000            lds r24,Parameter_KompassWirkung
 5975 3a94 482F                 mov r20,r24
 5976 3a96 50E0                 ldi r21,lo8(0)
 5977 3a98 5CAB                 std Y+52,r21
 5978 3a9a 4BAB                 std Y+51,r20
 5979 3a9c C49E                 mul r12,r20
 5980 3a9e C001                 movw r24,r0
 5981 3aa0 C59E                 mul r12,r21
 5982 3aa2 900D                 add r25,r0
 5983 3aa4 D49E                 mul r13,r20
 5984 3aa6 900D                 add r25,r0
 5985 3aa8 1124                 clr r1
 5986 3aaa 60E2                 ldi r22,lo8(32)
 5987 3aac 70E0                 ldi r23,hi8(32)
 5988 3aae 0E94 0000            call __divmodhi4
 5989 3ab2 2BA8                 ldd r2,Y+51
 5990 3ab4 3CA8                 ldd r3,Y+52
 5991 3ab6 261A                 sub r2,r22
 5992 3ab8 370A                 sbc r3,r23
 5993 3aba 37FC                 sbrc r3,7
 5994 3abc 00C0                 rjmp .L649
 5995 3abe E114                 cp r14,__zero_reg__
 5996 3ac0 F104                 cpc r15,__zero_reg__
 5997 3ac2 01F0                 breq .+4
 5998 3ac4 0C94 0000            jmp .L651
 5999 3ac8 8091 0000            lds r24,MaxStickRoll
 6000 3acc 9091 0000            lds r25,(MaxStickRoll)+1
 6001 3ad0 2091 0000            lds r18,MaxStickNick
 6002 3ad4 3091 0000            lds r19,(MaxStickNick)+1
 6003 3ad8 820F                 add r24,r18
 6004 3ada 931F                 adc r25,r19
 6005 3adc 68E0                 ldi r22,lo8(8)
 6006 3ade 70E0                 ldi r23,hi8(8)
 6007 3ae0 0E94 0000            call __divmodhi4
 6008 3ae4 6B01                 movw r12,r22
 6009 3ae6 60E4                 ldi r22,lo8(64)
 6010 3ae8 70E0                 ldi r23,hi8(64)
 6011 3aea C60E                 add r12,r22
 6012 3aec D71E                 adc r13,r23
 6013 3aee 8091 0000            lds r24,KompassStartwert
 6014 3af2 9091 0000            lds r25,(KompassStartwert)+1
 6015 3af6 AA27                 clr r26
 6016 3af8 97FD                 sbrc r25,7
 6017 3afa A095                 com r26
 6018 3afc BA2F                 mov r27,r26
 6019 3afe 5CE1                 ldi r21,lo8(540)
 6020 3b00 E52E                 mov r14,r21
 6021 3b02 52E0                 ldi r21,hi8(540)
 6022 3b04 F52E                 mov r15,r21
 6023 3b06 012D                 mov r16,__zero_reg__
 6024 3b08 112D                 mov r17,__zero_reg__
 6025 3b0a E81A                 sub r14,r24
 6026 3b0c F90A                 sbc r15,r25
 6027 3b0e 0A0B                 sbc r16,r26
 6028 3b10 1B0B                 sbc r17,r27
 6029 3b12 C501                 movw r24,r10
 6030 3b14 B401                 movw r22,r8
 6031 3b16 A301                 movw r20,r6
 6032 3b18 9201                 movw r18,r4
 6033 3b1a 0E94 0000            call __divmodsi4
 6034 3b1e E20E                 add r14,r18
 6035 3b20 F31E                 adc r15,r19
 6036 3b22 041F                 adc r16,r20
 6037 3b24 151F                 adc r17,r21
 6038 3b26 C801                 movw r24,r16
 6039 3b28 B701                 movw r22,r14
 6040 3b2a 28E6                 ldi r18,lo8(360)
 6041 3b2c 31E0                 ldi r19,hi8(360)
 6042 3b2e 40E0                 ldi r20,hlo8(360)
 6043 3b30 50E0                 ldi r21,hhi8(360)
 6044 3b32 0E94 0000            call __divmodsi4
 6045 3b36 645B                 subi r22,lo8(-(-180))
 6046 3b38 7040                 sbci r23,hi8(-(-180))
 6047 3b3a 629D                 mul r22,r2
 6048 3b3c C001                 movw r24,r0
 6049 3b3e 639D                 mul r22,r3
 6050 3b40 900D                 add r25,r0
 6051 3b42 729D                 mul r23,r2
 6052 3b44 900D                 add r25,r0
 6053 3b46 1124                 clr r1
 6054 3b48 B601                 movw r22,r12
 6055 3b4a 0E94 0000            call __divmodhi4
 6056 3b4e 2BA9                 ldd r18,Y+51
 6057 3b50 3CA9                 ldd r19,Y+52
 6058 3b52 220F                 lsl r18
 6059 3b54 331F                 rol r19
 6060 3b56 8BA9                 ldd r24,Y+51
 6061 3b58 9CA9                 ldd r25,Y+52
 6062 3b5a 280F                 add r18,r24
 6063 3b5c 391F                 adc r19,r25
 6064 3b5e 2617                 cp r18,r22
 6065 3b60 3707                 cpc r19,r23
 6066 3b62 04F0                 brlt .L916
 6067 3b64 3095                 com r19
 6068 3b66 2195                 neg r18
 6069 3b68 3F4F                 sbci r19,lo8(-1)
 6070 3b6a 6217                 cp r22,r18
 6071 3b6c 7307                 cpc r23,r19
 6072 3b6e 04F4                 brge .L655
 6073                   .L916:
 6074 3b70 B901                 movw r22,r18
 6075                   .L655:
 6076 3b72 9B01                 movw r18,r22
 6077 3b74 4427                 clr r20
 6078 3b76 37FD                 sbrc r19,7
 6079 3b78 4095                 com r20
 6080 3b7a 542F                 mov r21,r20
 6081 3b7c 8091 0000            lds r24,Mess_Integral_Gier
 6082 3b80 9091 0000            lds r25,(Mess_Integral_Gier)+1
 6083 3b84 A091 0000            lds r26,(Mess_Integral_Gier)+2
 6084 3b88 B091 0000            lds r27,(Mess_Integral_Gier)+3
 6085 3b8c 820F                 add r24,r18
 6086 3b8e 931F                 adc r25,r19
 6087 3b90 A41F                 adc r26,r20
 6088 3b92 B51F                 adc r27,r21
 6089 3b94 8093 0000            sts Mess_Integral_Gier,r24
 6090 3b98 9093 0000            sts (Mess_Integral_Gier)+1,r25
 6091 3b9c A093 0000            sts (Mess_Integral_Gier)+2,r26
 6092 3ba0 B093 0000            sts (Mess_Integral_Gier)+3,r27
 6093 3ba4 00C0                 rjmp .L639
 6094                   .L649:
 6095 3ba6 84EF                 ldi r24,lo8(500)
 6096 3ba8 91E0                 ldi r25,hi8(500)
 6097 3baa 9093 0000            sts (KompassSignalSchlecht)+1,r25
 6098 3bae 8093 0000            sts KompassSignalSchlecht,r24
 6099                   .L639:
 6100 3bb2 8091 0000            lds r24,TrichterFlug
 6101 3bb6 8823                 tst r24
 6102 3bb8 01F0                 breq .L657
 6103 3bba 1092 0000            sts SummeRoll,__zero_reg__
 6104 3bbe 1092 0000            sts (SummeRoll)+1,__zero_reg__
 6105 3bc2 1092 0000            sts (SummeRoll)+2,__zero_reg__
 6106 3bc6 1092 0000            sts (SummeRoll)+3,__zero_reg__
 6107 3bca 1092 0000            sts SummeNick,__zero_reg__
 6108 3bce 1092 0000            sts (SummeNick)+1,__zero_reg__
 6109 3bd2 1092 0000            sts (SummeNick)+2,__zero_reg__
 6110 3bd6 1092 0000            sts (SummeNick)+3,__zero_reg__
 6111                   .L657:
 6112 3bda 9985                 ldd r25,Y+9
 6113 3bdc 9923                 tst r25
 6114 3bde 01F0                 breq .L659
 6115 3be0 1B8A                 std Y+19,__zero_reg__
 6116 3be2 1A8A                 std Y+18,__zero_reg__
 6117 3be4 00C0                 rjmp .L661
 6118                   .L659:
 6119 3be6 6091 0000            lds r22,IntegralFaktor
 6120 3bea 70E0                 ldi r23,lo8(0)
 6121 3bec 80E0                 ldi r24,lo8(0)
 6122 3bee 90E0                 ldi r25,hi8(0)
 6123 3bf0 2981                 ldd r18,Y+1
 6124 3bf2 3A81                 ldd r19,Y+2
 6125 3bf4 4B81                 ldd r20,Y+3
 6126 3bf6 5C81                 ldd r21,Y+4
 6127 3bf8 0E94 0000            call __mulsi3
 6128 3bfc 28EF                 ldi r18,lo8(11000)
 6129 3bfe 3AE2                 ldi r19,hi8(11000)
 6130 3c00 40E0                 ldi r20,hlo8(11000)
 6131 3c02 50E0                 ldi r21,hhi8(11000)
 6132 3c04 0E94 0000            call __divmodsi4
 6133 3c08 3B8B                 std Y+19,r19
 6134 3c0a 2A8B                 std Y+18,r18
 6135                   .L661:
 6136 3c0c 5090 0000            lds r5,Looping_Roll
 6137 3c10 5520                 tst r5
 6138 3c12 01F0                 breq .L662
 6139 3c14 198A                 std Y+17,__zero_reg__
 6140 3c16 188A                 std Y+16,__zero_reg__
 6141 3c18 00C0                 rjmp .L664
 6142                   .L662:
 6143 3c1a 6091 0000            lds r22,IntegralFaktor
 6144 3c1e 70E0                 ldi r23,lo8(0)
 6145 3c20 80E0                 ldi r24,lo8(0)
 6146 3c22 90E0                 ldi r25,hi8(0)
 6147 3c24 2D81                 ldd r18,Y+5
 6148 3c26 3E81                 ldd r19,Y+6
 6149 3c28 4F81                 ldd r20,Y+7
 6150 3c2a 5885                 ldd r21,Y+8
 6151 3c2c 0E94 0000            call __mulsi3
 6152 3c30 28EF                 ldi r18,lo8(11000)
 6153 3c32 3AE2                 ldi r19,hi8(11000)
 6154 3c34 40E0                 ldi r20,hlo8(11000)
 6155 3c36 50E0                 ldi r21,hhi8(11000)
 6156 3c38 0E94 0000            call __divmodsi4
 6157 3c3c 398B                 std Y+17,r19
 6158 3c3e 288B                 std Y+16,r18
 6159                   .L664:
 6160 3c40 8091 0000            lds r24,TrimNick
 6161 3c44 9091 0000            lds r25,(TrimNick)+1
 6162 3c48 893C                 cpi r24,201
 6163 3c4a 9105                 cpc r25,__zero_reg__
 6164 3c4c 04F0                 brlt .L665
 6165 3c4e 88EC                 ldi r24,lo8(200)
 6166 3c50 90E0                 ldi r25,hi8(200)
 6167 3c52 00C0                 rjmp .L917
 6168                   .L665:
 6169 3c54 8853                 subi r24,lo8(-200)
 6170 3c56 9F4F                 sbci r25,hi8(-200)
 6171 3c58 04F4                 brge .L667
 6172 3c5a 88E3                 ldi r24,lo8(-200)
 6173 3c5c 9FEF                 ldi r25,hi8(-200)
 6174                   .L917:
 6175 3c5e 9093 0000            sts (TrimNick)+1,r25
 6176 3c62 8093 0000            sts TrimNick,r24
 6177                   .L667:
 6178 3c66 8091 0000            lds r24,TrimRoll
 6179 3c6a 9091 0000            lds r25,(TrimRoll)+1
 6180 3c6e 893C                 cpi r24,201
 6181 3c70 9105                 cpc r25,__zero_reg__
 6182 3c72 04F0                 brlt .L669
 6183 3c74 88EC                 ldi r24,lo8(200)
 6184 3c76 90E0                 ldi r25,hi8(200)
 6185 3c78 00C0                 rjmp .L918
 6186                   .L669:
 6187 3c7a 8853                 subi r24,lo8(-200)
 6188 3c7c 9F4F                 sbci r25,hi8(-200)
 6189 3c7e 04F4                 brge .L671
 6190 3c80 88E3                 ldi r24,lo8(-200)
 6191 3c82 9FEF                 ldi r25,hi8(-200)
 6192                   .L918:
 6193 3c84 9093 0000            sts (TrimRoll)+1,r25
 6194 3c88 8093 0000            sts TrimRoll,r24
 6195                   .L671:
 6196 3c8c A090 0000            lds r10,GyroFaktor
 6197 3c90 BB24                 clr r11
 6198 3c92 CC24                 clr r12
 6199 3c94 DD24                 clr r13
 6200 3c96 E090 0000            lds r14,TrimNick
 6201 3c9a F090 0000            lds r15,(TrimNick)+1
 6202 3c9e 0027                 clr r16
 6203 3ca0 F7FC                 sbrc r15,7
 6204 3ca2 0095                 com r16
 6205 3ca4 102F                 mov r17,r16
 6206 3ca6 27E0                 ldi r18,7
 6207 3ca8 EE0C         1:      lsl r14
 6208 3caa FF1C                 rol r15
 6209 3cac 001F                 rol r16
 6210 3cae 111F                 rol r17
 6211 3cb0 2A95                 dec r18
 6212 3cb2 01F4                 brne 1b
 6213 3cb4 2091 0000            lds r18,MesswertNick
 6214 3cb8 3091 0000            lds r19,(MesswertNick)+1
 6215 3cbc 4427                 clr r20
 6216 3cbe 37FD                 sbrc r19,7
 6217 3cc0 4095                 com r20
 6218 3cc2 542F                 mov r21,r20
 6219 3cc4 C601                 movw r24,r12
 6220 3cc6 B501                 movw r22,r10
 6221 3cc8 0E94 0000            call __mulsi3
 6222 3ccc E60E                 add r14,r22
 6223 3cce F71E                 adc r15,r23
 6224 3cd0 081F                 adc r16,r24
 6225 3cd2 191F                 adc r17,r25
 6226 3cd4 C801                 movw r24,r16
 6227 3cd6 B701                 movw r22,r14
 6228 3cd8 20E4                 ldi r18,lo8(64)
 6229 3cda 30E0                 ldi r19,hi8(64)
 6230 3cdc 40E0                 ldi r20,hlo8(64)
 6231 3cde 50E0                 ldi r21,hhi8(64)
 6232 3ce0 0E94 0000            call __divmodsi4
 6233 3ce4 8A88                 ldd r8,Y+18
 6234 3ce6 9B88                 ldd r9,Y+19
 6235 3ce8 820E                 add r8,r18
 6236 3cea 931E                 adc r9,r19
 6237 3cec 9092 0000            sts (MesswertNick)+1,r9
 6238 3cf0 8092 0000            sts MesswertNick,r8
 6239 3cf4 E090 0000            lds r14,TrimRoll
 6240 3cf8 F090 0000            lds r15,(TrimRoll)+1
 6241 3cfc 0027                 clr r16
 6242 3cfe F7FC                 sbrc r15,7
 6243 3d00 0095                 com r16
 6244 3d02 102F                 mov r17,r16
 6245 3d04 97E0                 ldi r25,7
 6246 3d06 EE0C         1:      lsl r14
 6247 3d08 FF1C                 rol r15
 6248 3d0a 001F                 rol r16
 6249 3d0c 111F                 rol r17
 6250 3d0e 9A95                 dec r25
 6251 3d10 01F4                 brne 1b
 6252 3d12 6091 0000            lds r22,MesswertRoll
 6253 3d16 7091 0000            lds r23,(MesswertRoll)+1
 6254 3d1a 8827                 clr r24
 6255 3d1c 77FD                 sbrc r23,7
 6256 3d1e 8095                 com r24
 6257 3d20 982F                 mov r25,r24
 6258 3d22 A601                 movw r20,r12
 6259 3d24 9501                 movw r18,r10
 6260 3d26 0E94 0000            call __mulsi3
 6261 3d2a E60E                 add r14,r22
 6262 3d2c F71E                 adc r15,r23
 6263 3d2e 081F                 adc r16,r24
 6264 3d30 191F                 adc r17,r25
 6265 3d32 C801                 movw r24,r16
 6266 3d34 B701                 movw r22,r14
 6267 3d36 20E4                 ldi r18,lo8(64)
 6268 3d38 30E0                 ldi r19,hi8(64)
 6269 3d3a 40E0                 ldi r20,hlo8(64)
 6270 3d3c 50E0                 ldi r21,hhi8(64)
 6271 3d3e 0E94 0000            call __divmodsi4
 6272 3d42 C888                 ldd r12,Y+16
 6273 3d44 D988                 ldd r13,Y+17
 6274 3d46 C20E                 add r12,r18
 6275 3d48 D31E                 adc r13,r19
 6276 3d4a D092 0000            sts (MesswertRoll)+1,r13
 6277 3d4e C092 0000            sts MesswertRoll,r12
 6278 3d52 6091 0000            lds r22,MesswertGier
 6279 3d56 7091 0000            lds r23,(MesswertGier)+1
 6280 3d5a 660F                 lsl r22
 6281 3d5c 771F                 rol r23
 6282 3d5e 8827                 clr r24
 6283 3d60 77FD                 sbrc r23,7
 6284 3d62 8095                 com r24
 6285 3d64 982F                 mov r25,r24
 6286 3d66 2091 0000            lds r18,GyroFaktorGier
 6287 3d6a 30E0                 ldi r19,lo8(0)
 6288 3d6c 40E0                 ldi r20,lo8(0)
 6289 3d6e 50E0                 ldi r21,hi8(0)
 6290 3d70 0E94 0000            call __mulsi3
 6291 3d74 20E4                 ldi r18,lo8(64)
 6292 3d76 30E0                 ldi r19,hi8(64)
 6293 3d78 40E0                 ldi r20,hlo8(64)
 6294 3d7a 50E0                 ldi r21,hhi8(64)
 6295 3d7c 0E94 0000            call __divmodsi4
 6296 3d80 7901                 movw r14,r18
 6297 3d82 8A01                 movw r16,r20
 6298 3d84 6091 0000            lds r22,IntegralFaktorGier
 6299 3d88 70E0                 ldi r23,lo8(0)
 6300 3d8a 80E0                 ldi r24,lo8(0)
 6301 3d8c 90E0                 ldi r25,hi8(0)
 6302 3d8e 2091 0000            lds r18,Integral_Gier
 6303 3d92 3091 0000            lds r19,(Integral_Gier)+1
 6304 3d96 4091 0000            lds r20,(Integral_Gier)+2
 6305 3d9a 5091 0000            lds r21,(Integral_Gier)+3
 6306 3d9e 0E94 0000            call __mulsi3
 6307 3da2 20EF                 ldi r18,lo8(22000)
 6308 3da4 35E5                 ldi r19,hi8(22000)
 6309 3da6 40E0                 ldi r20,hlo8(22000)
 6310 3da8 50E0                 ldi r21,hhi8(22000)
 6311 3daa 0E94 0000            call __divmodsi4
 6312 3dae E20E                 add r14,r18
 6313 3db0 F31E                 adc r15,r19
 6314 3db2 F092 0000            sts (MesswertGier)+1,r15
 6315 3db6 E092 0000            sts MesswertGier,r14
 6316 3dba E1E0                 ldi r30,lo8(4097)
 6317 3dbc 8E16                 cp r8,r30
 6318 3dbe E0E1                 ldi r30,hi8(4097)
 6319 3dc0 9E06                 cpc r9,r30
 6320 3dc2 04F0                 brlt .L673
 6321 3dc4 80E0                 ldi r24,lo8(4096)
 6322 3dc6 90E1                 ldi r25,hi8(4096)
 6323 3dc8 9093 0000            sts (MesswertNick)+1,r25
 6324 3dcc 8093 0000            sts MesswertNick,r24
 6325                   .L673:
 6326 3dd0 8091 0000            lds r24,MesswertNick
 6327 3dd4 9091 0000            lds r25,(MesswertNick)+1
 6328 3dd8 8050                 subi r24,lo8(-4096)
 6329 3dda 904F                 sbci r25,hi8(-4096)
 6330 3ddc 04F4                 brge .L675
 6331 3dde 80E0                 ldi r24,lo8(-4096)
 6332 3de0 90EF                 ldi r25,hi8(-4096)
 6333 3de2 9093 0000            sts (MesswertNick)+1,r25
 6334 3de6 8093 0000            sts MesswertNick,r24
 6335                   .L675:
 6336 3dea 01E0                 ldi r16,lo8(4097)
 6337 3dec C016                 cp r12,r16
 6338 3dee 00E1                 ldi r16,hi8(4097)
 6339 3df0 D006                 cpc r13,r16
 6340 3df2 04F0                 brlt .L677
 6341 3df4 80E0                 ldi r24,lo8(4096)
 6342 3df6 90E1                 ldi r25,hi8(4096)
 6343 3df8 9093 0000            sts (MesswertRoll)+1,r25
 6344 3dfc 8093 0000            sts MesswertRoll,r24
 6345                   .L677:
 6346 3e00 8091 0000            lds r24,MesswertRoll
 6347 3e04 9091 0000            lds r25,(MesswertRoll)+1
 6348 3e08 8050                 subi r24,lo8(-4096)
 6349 3e0a 904F                 sbci r25,hi8(-4096)
 6350 3e0c 04F4                 brge .L679
 6351 3e0e 80E0                 ldi r24,lo8(-4096)
 6352 3e10 90EF                 ldi r25,hi8(-4096)
 6353 3e12 9093 0000            sts (MesswertRoll)+1,r25
 6354 3e16 8093 0000            sts MesswertRoll,r24
 6355                   .L679:
 6356 3e1a 21E0                 ldi r18,lo8(4097)
 6357 3e1c E216                 cp r14,r18
 6358 3e1e 20E1                 ldi r18,hi8(4097)
 6359 3e20 F206                 cpc r15,r18
 6360 3e22 04F0                 brlt .L681
 6361 3e24 80E0                 ldi r24,lo8(4096)
 6362 3e26 90E1                 ldi r25,hi8(4096)
 6363 3e28 9093 0000            sts (MesswertGier)+1,r25
 6364 3e2c 8093 0000            sts MesswertGier,r24
 6365                   .L681:
 6366 3e30 8091 0000            lds r24,MesswertGier
 6367 3e34 9091 0000            lds r25,(MesswertGier)+1
 6368 3e38 8050                 subi r24,lo8(-4096)
 6369 3e3a 904F                 sbci r25,hi8(-4096)
 6370 3e3c 04F4                 brge .L683
 6371 3e3e 80E0                 ldi r24,lo8(-4096)
 6372 3e40 90EF                 ldi r25,hi8(-4096)
 6373 3e42 9093 0000            sts (MesswertGier)+1,r25
 6374 3e46 8093 0000            sts MesswertGier,r24
 6375                   .L683:
 6376 3e4a 2091 0000            lds r18,UBat
 6377 3e4e 3091 0000            lds r19,(UBat)+1
 6378 3e52 8091 0000            lds r24,BattLowVoltageWarning
 6379 3e56 90E0                 ldi r25,lo8(0)
 6380 3e58 8217                 cp r24,r18
 6381 3e5a 9307                 cpc r25,r19
 6382 3e5c 04F4                 brge .L685
 6383 3e5e 6091 0000            lds r22,UBat
 6384 3e62 7091 0000            lds r23,(UBat)+1
 6385 3e66 4C89                 ldd r20,Y+20
 6386 3e68 5D89                 ldd r21,Y+21
 6387 3e6a DC01                 movw r26,r24
 6388 3e6c 4A9F                 mul r20,r26
 6389 3e6e C001                 movw r24,r0
 6390 3e70 4B9F                 mul r20,r27
 6391 3e72 900D                 add r25,r0
 6392 3e74 5A9F                 mul r21,r26
 6393 3e76 900D                 add r25,r0
 6394 3e78 1124                 clr r1
 6395 3e7a 0E94 0000            call __udivmodhi4
 6396 3e7e 7D8B                 std Y+21,r23
 6397 3e80 6C8B                 std Y+20,r22
 6398                   .L685:
 6399 3e82 6C88                 ldd r6,Y+20
 6400 3e84 7D88                 ldd r7,Y+21
 6401 3e86 660C                 lsl r6
 6402 3e88 771C                 rol r7
 6403 3e8a 660C                 lsl r6
 6404 3e8c 771C                 rol r7
 6405 3e8e 8091 0000            lds r24,EE_Parameter+13
 6406 3e92 482F                 mov r20,r24
 6407 3e94 80FF                 sbrs r24,0
 6408 3e96 00C0                 rjmp .L687
 6409 3e98 5520                 tst r5
 6410 3e9a 01F0                 breq .+2
 6411 3e9c 00C0                 rjmp .L687
 6412 3e9e B985                 ldd r27,Y+9
 6413 3ea0 BB23                 tst r27
 6414 3ea2 01F0                 breq .+2
 6415 3ea4 00C0                 rjmp .L687
 6416 3ea6 8091 0000            lds r24,HoverGas
 6417 3eaa 9091 0000            lds r25,(HoverGas)+1
 6418 3eae 9093 0000            sts (DebugOut+44)+1,r25
 6419 3eb2 8093 0000            sts DebugOut+44,r24
 6420 3eb6 2091 0000            lds r18,BaroExpandActive
 6421 3eba 3091 0000            lds r19,(BaroExpandActive)+1
 6422 3ebe 2115                 cp r18,__zero_reg__
 6423 3ec0 3105                 cpc r19,__zero_reg__
 6424 3ec2 01F0                 breq .+2
 6425 3ec4 00C0                 rjmp .L691
 6426 3ec6 8091 0000            lds r24,MessLuftdruck
 6427 3eca 9091 0000            lds r25,(MessLuftdruck)+1
 6428 3ece 8959                 subi r24,lo8(921)
 6429 3ed0 9340                 sbci r25,hi8(921)
 6430 3ed2 00F0                 brlo .L693
 6431 3ed4 87B5                 in r24,71-0x20
 6432 3ed6 853F                 cpi r24,lo8(-11)
 6433 3ed8 00F4                 brsh .L695
 6434 3eda 8091 0000            lds r24,ExpandBaro
 6435 3ede 8150                 subi r24,lo8(-(-1))
 6436 3ee0 00C0                 rjmp .L919
 6437                   .L695:
 6438 3ee2 81E0                 ldi r24,lo8(1)
 6439 3ee4 8093 0000            sts BaroAtLowerLimit.3353,r24
 6440 3ee8 00C0                 rjmp .L697
 6441                   .L693:
 6442 3eea 8091 0000            lds r24,MessLuftdruck
 6443 3eee 9091 0000            lds r25,(MessLuftdruck)+1
 6444 3ef2 8436                 cpi r24,100
 6445 3ef4 9105                 cpc r25,__zero_reg__
 6446 3ef6 00F4                 brsh .L698
 6447 3ef8 87B5                 in r24,71-0x20
 6448 3efa 8B30                 cpi r24,lo8(11)
 6449 3efc 00F0                 brlo .L700
 6450 3efe 8091 0000            lds r24,ExpandBaro
 6451 3f02 8F5F                 subi r24,lo8(-(1))
 6452                   .L919:
 6453 3f04 8093 0000            sts ExpandBaro,r24
 6454 3f08 2AE0                 ldi r18,lo8(10)
 6455 3f0a 8202                 muls r24,r18
 6456 3f0c C001                 movw r24,r0
 6457 3f0e 1124                 clr r1
 6458 3f10 2091 0000            lds r18,DruckOffsetSetting
 6459 3f14 281B                 sub r18,r24
 6460 3f16 27BD                 out 71-0x20,r18
 6461 3f18 8CE2                 ldi r24,lo8(300)
 6462 3f1a 91E0                 ldi r25,hi8(300)
 6463 3f1c 9093 0000            sts (beeptime)+1,r25
 6464 3f20 8093 0000            sts beeptime,r24
 6465 3f24 8EE5                 ldi r24,lo8(350)
 6466 3f26 91E0                 ldi r25,hi8(350)
 6467 3f28 9093 0000            sts (BaroExpandActive)+1,r25
 6468 3f2c 8093 0000            sts BaroExpandActive,r24
 6469 3f30 00C0                 rjmp .L697
 6470                   .L700:
 6471 3f32 81E0                 ldi r24,lo8(1)
 6472 3f34 8093 0000            sts BaroAtUpperLimit.3352,r24
 6473 3f38 00C0                 rjmp .L697
 6474                   .L698:
 6475 3f3a 1092 0000            sts BaroAtUpperLimit.3352,__zero_reg__
 6476 3f3e 1092 0000            sts BaroAtLowerLimit.3353,__zero_reg__
 6477 3f42 00C0                 rjmp .L697
 6478                   .L691:
 6479 3f44 8091 0000            lds r24,HoehenWert
 6480 3f48 9091 0000            lds r25,(HoehenWert)+1
 6481 3f4c A091 0000            lds r26,(HoehenWert)+2
 6482 3f50 B091 0000            lds r27,(HoehenWert)+3
 6483 3f54 14E0                 ldi r17,4
 6484 3f56 880F         1:      lsl r24
 6485 3f58 991F                 rol r25
 6486 3f5a AA1F                 rol r26
 6487 3f5c BB1F                 rol r27
 6488 3f5e 1A95                 dec r17
 6489 3f60 01F4                 brne 1b
 6490 3f62 8093 0000            sts SummenHoehe,r24
 6491 3f66 9093 0000            sts (SummenHoehe)+1,r25
 6492 3f6a A093 0000            sts (SummenHoehe)+2,r26
 6493 3f6e B093 0000            sts (SummenHoehe)+3,r27
 6494 3f72 1092 0000            sts (VarioMeter)+1,__zero_reg__
 6495 3f76 1092 0000            sts VarioMeter,__zero_reg__
 6496 3f7a 2150                 subi r18,lo8(-(-1))
 6497 3f7c 3040                 sbci r19,hi8(-(-1))
 6498 3f7e 3093 0000            sts (BaroExpandActive)+1,r19
 6499 3f82 2093 0000            sts BaroExpandActive,r18
 6500                   .L697:
 6501 3f86 8091 0000            lds r24,Parameter_MaxHoehe
 6502 3f8a 41FF                 sbrs r20,1
 6503 3f8c 00C0                 rjmp .L702
 6504 3f8e 8233                 cpi r24,lo8(50)
 6505 3f90 00F4                 brsh .L704
 6506 3f92 8091 0000            lds r24,delay.3351
 6507 3f96 8150                 subi r24,lo8(-(-1))
 6508 3f98 8093 0000            sts delay.3351,r24
 6509 3f9c 8F3F                 cpi r24,lo8(-1)
 6510 3f9e 01F4                 brne .L706
 6511 3fa0 1092 0000            sts HoehenReglerAktiv,__zero_reg__
 6512 3fa4 8091 0000            lds r24,HoehenWert
 6513 3fa8 9091 0000            lds r25,(HoehenWert)+1
 6514 3fac A091 0000            lds r26,(HoehenWert)+2
 6515 3fb0 B091 0000            lds r27,(HoehenWert)+3
 6516 3fb4 8093 0000            sts SollHoehe,r24
 6517 3fb8 9093 0000            sts (SollHoehe)+1,r25
 6518 3fbc A093 0000            sts (SollHoehe)+2,r26
 6519 3fc0 B093 0000            sts (SollHoehe)+3,r27
 6520 3fc4 81E0                 ldi r24,lo8(1)
 6521 3fc6 00C0                 rjmp .L920
 6522                   .L704:
 6523 3fc8 81E0                 ldi r24,lo8(1)
 6524 3fca 8093 0000            sts HoehenReglerAktiv,r24
 6525 3fce 88EC                 ldi r24,lo8(-56)
 6526                   .L920:
 6527 3fd0 8093 0000            sts delay.3351,r24
 6528 3fd4 00C0                 rjmp .L706
 6529                   .L702:
 6530 3fd6 2091 0000            lds r18,ExternHoehenValue
 6531 3fda 3091 0000            lds r19,(ExternHoehenValue)+1
 6532 3fde 280F                 add r18,r24
 6533 3fe0 311D                 adc r19,__zero_reg__
 6534 3fe2 8091 0000            lds r24,EE_Parameter+18
 6535 3fe6 90E0                 ldi r25,lo8(0)
 6536 3fe8 7C01                 movw r14,r24
 6537 3fea 2E9D                 mul r18,r14
 6538 3fec C001                 movw r24,r0
 6539 3fee 2F9D                 mul r18,r15
 6540 3ff0 900D                 add r25,r0
 6541 3ff2 3E9D                 mul r19,r14
 6542 3ff4 900D                 add r25,r0
 6543 3ff6 1124                 clr r1
 6544 3ff8 AA27                 clr r26
 6545 3ffa 97FD                 sbrc r25,7
 6546 3ffc A095                 com r26
 6547 3ffe BA2F                 mov r27,r26
 6548 4000 8093 0000            sts SollHoehe,r24
 6549 4004 9093 0000            sts (SollHoehe)+1,r25
 6550 4008 A093 0000            sts (SollHoehe)+2,r26
 6551 400c B093 0000            sts (SollHoehe)+3,r27
 6552 4010 81E0                 ldi r24,lo8(1)
 6553 4012 8093 0000            sts HoehenReglerAktiv,r24
 6554                   .L706:
 6555 4016 E090 0000            lds r14,GIER_GRAD_FAKTOR
 6556 401a F090 0000            lds r15,(GIER_GRAD_FAKTOR)+1
 6557 401e 0091 0000            lds r16,(GIER_GRAD_FAKTOR)+2
 6558 4022 1091 0000            lds r17,(GIER_GRAD_FAKTOR)+3
 6559 4026 6981                 ldd r22,Y+1
 6560 4028 7A81                 ldd r23,Y+2
 6561 402a 8B81                 ldd r24,Y+3
 6562 402c 9C81                 ldd r25,Y+4
 6563 402e A801                 movw r20,r16
 6564 4030 9701                 movw r18,r14
 6565 4032 0E94 0000            call __divmodsi4
 6566 4036 5901                 movw r10,r18
 6567 4038 6A01                 movw r12,r20
 6568 403a 6D81                 ldd r22,Y+5
 6569 403c 7E81                 ldd r23,Y+6
 6570 403e 8F81                 ldd r24,Y+7
 6571 4040 9885                 ldd r25,Y+8
 6572 4042 A801                 movw r20,r16
 6573 4044 9701                 movw r18,r14
 6574 4046 0E94 0000            call __divmodsi4
 6575 404a B901                 movw r22,r18
 6576 404c C501                 movw r24,r10
 6577 404e 0E94 0000            call ihypot
 6578 4052 8C33                 cpi r24,60
 6579 4054 9105                 cpc r25,__zero_reg__
 6580 4056 04F0                 brlt .L708
 6581 4058 8CE3                 ldi r24,lo8(60)
 6582 405a 90E0                 ldi r25,hi8(60)
 6583                   .L708:
 6584 405c 0E94 0000            call c_cos_8192
 6585 4060 9B87                 std Y+11,r25
 6586 4062 8A87                 std Y+10,r24
 6587 4064 80E2                 ldi r24,lo8(32)
 6588 4066 8093 0000            sts VarioCharacter,r24
 6589 406a 8091 0000            lds r24,HoehenReglerAktiv
 6590 406e 8823                 tst r24
 6591 4070 01F4                 brne .+2
 6592 4072 00C0                 rjmp .L710
 6593 4074 8091 0000            lds r24,FC_StatusFlags
 6594 4078 84FD                 sbrc r24,4
 6595 407a 00C0                 rjmp .L710
 6596 407c 8091 0000            lds r24,EE_Parameter+102
 6597 4080 E82F                 mov r30,r24
 6598 4082 F0E0                 ldi r31,lo8(0)
 6599 4084 B1E0                 ldi r27,lo8(1)
 6600 4086 2B2E                 mov r2,r27
 6601 4088 312C                 mov r3,__zero_reg__
 6602 408a 2E22                 and r2,r30
 6603 408c 3F22                 and r3,r31
 6604 408e 80FD                 sbrc r24,0
 6605 4090 00C0                 rjmp .L713
 6606 4092 8091 0000            lds r24,EE_Parameter+13
 6607 4096 81FD                 sbrc r24,1
 6608 4098 00C0                 rjmp .L715
 6609                   .L713:
 6610 409a 1092 0000            sts (HeightTrimming.3345)+1,__zero_reg__
 6611 409e 1092 0000            sts HeightTrimming.3345,__zero_reg__
 6612 40a2 8091 0000            lds r24,FC_StatusFlags
 6613 40a6 806C                 ori r24,lo8(-64)
 6614 40a8 8093 0000            sts FC_StatusFlags,r24
 6615 40ac 2301                 movw r4,r6
 6616 40ae 00C0                 rjmp .L716
 6617                   .L715:
 6618 40b0 8091 0000            lds r24,FC_StatusFlags
 6619 40b4 81FF                 sbrs r24,1
 6620 40b6 00C0                 rjmp .L717
 6621 40b8 4091 0000            lds r20,StickGas
 6622 40bc 5091 0000            lds r21,(StickGas)+1
 6623 40c0 2091 0000            lds r18,StickGasHover.3347
 6624 40c4 3091 0000            lds r19,(StickGasHover.3347)+1
 6625 40c8 B901                 movw r22,r18
 6626 40ca 615F                 subi r22,lo8(-(15))
 6627 40cc 7F4F                 sbci r23,hi8(-(15))
 6628 40ce 6417                 cp r22,r20
 6629 40d0 7507                 cpc r23,r21
 6630 40d2 04F4                 brge .L719
 6631 40d4 8091 0000            lds r24,BaroAtUpperLimit.3352
 6632 40d8 8823                 tst r24
 6633 40da 01F4                 brne .L719
 6634 40dc 8091 0000            lds r24,FC_StatusFlags
 6635 40e0 87FF                 sbrs r24,7
 6636 40e2 00C0                 rjmp .L722
 6637 40e4 8091 0000            lds r24,FC_StatusFlags
 6638 40e8 8F77                 andi r24,lo8(127)
 6639 40ea 8093 0000            sts FC_StatusFlags,r24
 6640 40ee 8091 0000            lds r24,HoehenWert
 6641 40f2 9091 0000            lds r25,(HoehenWert)+1
 6642 40f6 A091 0000            lds r26,(HoehenWert)+2
 6643 40fa B091 0000            lds r27,(HoehenWert)+3
 6644 40fe 8093 0000            sts SollHoehe,r24
 6645 4102 9093 0000            sts (SollHoehe)+1,r25
 6646 4106 A093 0000            sts (SollHoehe)+2,r26
 6647 410a B093 0000            sts (SollHoehe)+3,r27
 6648                   .L722:
 6649 410e 8091 0000            lds r24,FC_StatusFlags
 6650 4112 8064                 ori r24,lo8(64)
 6651 4114 8093 0000            sts FC_StatusFlags,r24
 6652 4118 9A01                 movw r18,r20
 6653 411a 261B                 sub r18,r22
 6654 411c 370B                 sbc r19,r23
 6655 411e 37FF                 sbrs r19,7
 6656 4120 00C0                 rjmp .L724
 6657 4122 3095                 com r19
 6658 4124 2195                 neg r18
 6659 4126 3F4F                 sbci r19,lo8(-1)
 6660                   .L724:
 6661 4128 8091 0000            lds r24,HeightTrimming.3345
 6662 412c 9091 0000            lds r25,(HeightTrimming.3345)+1
 6663 4130 820F                 add r24,r18
 6664 4132 931F                 adc r25,r19
 6665 4134 9093 0000            sts (HeightTrimming.3345)+1,r25
 6666 4138 8093 0000            sts HeightTrimming.3345,r24
 6667 413c 8BE2                 ldi r24,lo8(43)
 6668 413e 00C0                 rjmp .L921
 6669                   .L719:
 6670 4140 2F50                 subi r18,lo8(-(-15))
 6671 4142 3040                 sbci r19,hi8(-(-15))
 6672 4144 4217                 cp r20,r18
 6673 4146 5307                 cpc r21,r19
 6674 4148 04F4                 brge .L726
 6675 414a 8091 0000            lds r24,BaroAtLowerLimit.3353
 6676 414e 8823                 tst r24
 6677 4150 01F4                 brne .L726
 6678 4152 8091 0000            lds r24,FC_StatusFlags
 6679 4156 86FF                 sbrs r24,6
 6680 4158 00C0                 rjmp .L729
 6681 415a 8091 0000            lds r24,FC_StatusFlags
 6682 415e 8F7B                 andi r24,lo8(-65)
 6683 4160 8093 0000            sts FC_StatusFlags,r24
 6684 4164 8091 0000            lds r24,HoehenWert
 6685 4168 9091 0000            lds r25,(HoehenWert)+1
 6686 416c A091 0000            lds r26,(HoehenWert)+2
 6687 4170 B091 0000            lds r27,(HoehenWert)+3
 6688 4174 8093 0000            sts SollHoehe,r24
 6689 4178 9093 0000            sts (SollHoehe)+1,r25
 6690 417c A093 0000            sts (SollHoehe)+2,r26
 6691 4180 B093 0000            sts (SollHoehe)+3,r27
 6692                   .L729:
 6693 4184 8091 0000            lds r24,FC_StatusFlags
 6694 4188 8068                 ori r24,lo8(-128)
 6695 418a 8093 0000            sts FC_StatusFlags,r24
 6696 418e 421B                 sub r20,r18
 6697 4190 530B                 sbc r21,r19
 6698 4192 9A01                 movw r18,r20
 6699 4194 57FF                 sbrs r21,7
 6700 4196 00C0                 rjmp .L731
 6701 4198 3095                 com r19
 6702 419a 2195                 neg r18
 6703 419c 3F4F                 sbci r19,lo8(-1)
 6704                   .L731:
 6705 419e 8091 0000            lds r24,HeightTrimming.3345
 6706 41a2 9091 0000            lds r25,(HeightTrimming.3345)+1
 6707 41a6 821B                 sub r24,r18
 6708 41a8 930B                 sbc r25,r19
 6709 41aa 9093 0000            sts (HeightTrimming.3345)+1,r25
 6710 41ae 8093 0000            sts HeightTrimming.3345,r24
 6711 41b2 8DE2                 ldi r24,lo8(45)
 6712 41b4 00C0                 rjmp .L921
 6713                   .L726:
 6714 41b6 8091 0000            lds r24,FC_StatusFlags
 6715 41ba 807C                 andi r24,lo8(-64)
 6716 41bc 01F0                 breq .L732
 6717 41be 8091 0000            lds r24,FC_StatusFlags
 6718 41c2 8F73                 andi r24,lo8(63)
 6719 41c4 8093 0000            sts FC_StatusFlags,r24
 6720 41c8 1092 0000            sts (HeightTrimming.3345)+1,__zero_reg__
 6721 41cc 1092 0000            sts HeightTrimming.3345,__zero_reg__
 6722 41d0 2091 0000            lds r18,HoehenWert
 6723 41d4 3091 0000            lds r19,(HoehenWert)+1
 6724 41d8 4091 0000            lds r20,(HoehenWert)+2
 6725 41dc 5091 0000            lds r21,(HoehenWert)+3
 6726 41e0 2093 0000            sts SollHoehe,r18
 6727 41e4 3093 0000            sts (SollHoehe)+1,r19
 6728 41e8 4093 0000            sts (SollHoehe)+2,r20
 6729 41ec 5093 0000            sts (SollHoehe)+3,r21
 6730 41f0 E1FF                 sbrs r30,1
 6731 41f2 00C0                 rjmp .L734
 6732 41f4 84EF                 ldi r24,lo8(500)
 6733 41f6 91E0                 ldi r25,hi8(500)
 6734 41f8 9093 0000            sts (beeptime)+1,r25
 6735 41fc 8093 0000            sts beeptime,r24
 6736                   .L734:
 6737 4200 8091 0000            lds r24,StartTrigger
 6738 4204 8823                 tst r24
 6739 4206 01F4                 brne .L732
 6740 4208 2333                 cpi r18,lo8(51)
 6741 420a 3105                 cpc r19,__zero_reg__
 6742 420c 4105                 cpc r20,__zero_reg__
 6743 420e 5105                 cpc r21,__zero_reg__
 6744 4210 04F0                 brlt .L732
 6745 4212 81E0                 ldi r24,lo8(1)
 6746 4214 8093 0000            sts StartTrigger,r24
 6747                   .L732:
 6748 4218 8DE3                 ldi r24,lo8(61)
 6749                   .L921:
 6750 421a 8093 0000            sts VarioCharacter,r24
 6751 421e 4091 0000            lds r20,HeightTrimming.3345
 6752 4222 5091 0000            lds r21,(HeightTrimming.3345)+1
 6753 4226 CA01                 movw r24,r20
 6754 4228 57FF                 sbrs r21,7
 6755 422a 00C0                 rjmp .L739
 6756 422c 8827                 clr r24
 6757 422e 9927                 clr r25
 6758 4230 841B                 sub r24,r20
 6759 4232 950B                 sbc r25,r21
 6760                   .L739:
 6761 4234 8150                 subi r24,lo8(513)
 6762 4236 9240                 sbci r25,hi8(513)
 6763 4238 04F4                 brge .+2
 6764 423a 00C0                 rjmp .L738
 6765 423c 0091 0000            lds r16,SollHoehe
 6766 4240 1091 0000            lds r17,(SollHoehe)+1
 6767 4244 2091 0000            lds r18,(SollHoehe)+2
 6768 4248 3091 0000            lds r19,(SollHoehe)+3
 6769 424c 8091 0000            lds r24,EE_Parameter+18
 6770 4250 90E0                 ldi r25,lo8(0)
 6771 4252 BC01                 movw r22,r24
 6772 4254 649F                 mul r22,r20
 6773 4256 C001                 movw r24,r0
 6774 4258 659F                 mul r22,r21
 6775 425a 900D                 add r25,r0
 6776 425c 749F                 mul r23,r20
 6777 425e 900D                 add r25,r0
 6778 4260 1124                 clr r1
 6779 4262 60E0                 ldi r22,lo8(1280)
 6780 4264 75E0                 ldi r23,hi8(1280)
 6781 4266 0E94 0000            call __divmodhi4
 6782 426a 8827                 clr r24
 6783 426c 77FD                 sbrc r23,7
 6784 426e 8095                 com r24
 6785 4270 982F                 mov r25,r24
 6786 4272 600F                 add r22,r16
 6787 4274 711F                 adc r23,r17
 6788 4276 821F                 adc r24,r18
 6789 4278 931F                 adc r25,r19
 6790 427a 6093 0000            sts SollHoehe,r22
 6791 427e 7093 0000            sts (SollHoehe)+1,r23
 6792 4282 8093 0000            sts (SollHoehe)+2,r24
 6793 4286 9093 0000            sts (SollHoehe)+3,r25
 6794 428a 1092 0000            sts (HeightTrimming.3345)+1,__zero_reg__
 6795 428e 1092 0000            sts HeightTrimming.3345,__zero_reg__
 6796 4292 E090 0000            lds r14,HoehenWert
 6797 4296 F090 0000            lds r15,(HoehenWert)+1
 6798 429a 0091 0000            lds r16,(HoehenWert)+2
 6799 429e 1091 0000            lds r17,(HoehenWert)+3
 6800 42a2 A801                 movw r20,r16
 6801 42a4 9701                 movw r18,r14
 6802 42a6 2050                 subi r18,lo8(-(-1024))
 6803 42a8 3440                 sbci r19,hi8(-(-1024))
 6804 42aa 4040                 sbci r20,hlo8(-(-1024))
 6805 42ac 5040                 sbci r21,hhi8(-(-1024))
 6806 42ae 2617                 cp r18,r22
 6807 42b0 3707                 cpc r19,r23
 6808 42b2 4807                 cpc r20,r24
 6809 42b4 5907                 cpc r21,r25
 6810 42b6 04F4                 brge .L922
 6811 42b8 A801                 movw r20,r16
 6812 42ba 9701                 movw r18,r14
 6813 42bc 2050                 subi r18,lo8(-(1024))
 6814 42be 3C4F                 sbci r19,hi8(-(1024))
 6815 42c0 4F4F                 sbci r20,hlo8(-(1024))
 6816 42c2 5F4F                 sbci r21,hhi8(-(1024))
 6817 42c4 6217                 cp r22,r18
 6818 42c6 7307                 cpc r23,r19
 6819 42c8 8407                 cpc r24,r20
 6820 42ca 9507                 cpc r25,r21
 6821 42cc 04F0                 brlt .L743
 6822                   .L922:
 6823 42ce 2093 0000            sts SollHoehe,r18
 6824 42d2 3093 0000            sts (SollHoehe)+1,r19
 6825 42d6 4093 0000            sts (SollHoehe)+2,r20
 6826 42da 5093 0000            sts (SollHoehe)+3,r21
 6827                   .L743:
 6828 42de E1FF                 sbrs r30,1
 6829 42e0 00C0                 rjmp .L745
 6830 42e2 84E6                 ldi r24,lo8(100)
 6831 42e4 90E0                 ldi r25,hi8(100)
 6832 42e6 9093 0000            sts (beeptime)+1,r25
 6833 42ea 8093 0000            sts beeptime,r24
 6834                   .L745:
 6835 42ee 8091 0000            lds r24,EE_Parameter+22
 6836 42f2 8823                 tst r24
 6837 42f4 01F4                 brne .L738
 6838 42f6 2091 0000            lds r18,UBat
 6839 42fa 3091 0000            lds r19,(UBat)+1
 6840 42fe 8091 0000            lds r24,HoverGas
 6841 4302 9091 0000            lds r25,(HoverGas)+1
 6842 4306 64E0                 ldi r22,lo8(4)
 6843 4308 70E0                 ldi r23,hi8(4)
 6844 430a 0E94 0000            call __divmodhi4
 6845 430e CB01                 movw r24,r22
 6846 4310 6091 0000            lds r22,BattLowVoltageWarning
 6847 4314 70E0                 ldi r23,lo8(0)
 6848 4316 DC01                 movw r26,r24
 6849 4318 A29F                 mul r26,r18
 6850 431a C001                 movw r24,r0
 6851 431c A39F                 mul r26,r19
 6852 431e 900D                 add r25,r0
 6853 4320 B29F                 mul r27,r18
 6854 4322 900D                 add r25,r0
 6855 4324 1124                 clr r1
 6856 4326 0E94 0000            call __divmodhi4
 6857 432a 7093 0000            sts (StickGasHover.3347)+1,r23
 6858 432e 6093 0000            sts StickGasHover.3347,r22
 6859 4332 6634                 cpi r22,70
 6860 4334 7105                 cpc r23,__zero_reg__
 6861 4336 04F4                 brge .L748
 6862 4338 86E4                 ldi r24,lo8(70)
 6863 433a 90E0                 ldi r25,hi8(70)
 6864 433c 00C0                 rjmp .L923
 6865                   .L748:
 6866 433e 6739                 cpi r22,151
 6867 4340 7105                 cpc r23,__zero_reg__
 6868 4342 04F0                 brlt .L738
 6869 4344 86E9                 ldi r24,lo8(150)
 6870 4346 90E0                 ldi r25,hi8(150)
 6871                   .L923:
 6872 4348 9093 0000            sts (StickGasHover.3347)+1,r25
 6873 434c 8093 0000            sts StickGasHover.3347,r24
 6874                   .L738:
 6875 4350 8091 0000            lds r24,BaroExpandActive
 6876 4354 9091 0000            lds r25,(BaroExpandActive)+1
 6877 4358 892B                 or r24,r25
 6878 435a 01F0                 breq .L751
 6879 435c 8091 0000            lds r24,HoehenWert
 6880 4360 9091 0000            lds r25,(HoehenWert)+1
 6881 4364 A091 0000            lds r26,(HoehenWert)+2
 6882 4368 B091 0000            lds r27,(HoehenWert)+3
 6883 436c 8093 0000            sts SollHoehe,r24
 6884 4370 9093 0000            sts (SollHoehe)+1,r25
 6885 4374 A093 0000            sts (SollHoehe)+2,r26
 6886 4378 B093 0000            sts (SollHoehe)+3,r27
 6887 437c 00C0                 rjmp .L751
 6888                   .L717:
 6889 437e 8091 0000            lds r24,HoehenWert
 6890 4382 9091 0000            lds r25,(HoehenWert)+1
 6891 4386 A091 0000            lds r26,(HoehenWert)+2
 6892 438a B091 0000            lds r27,(HoehenWert)+3
 6893 438e 8059                 subi r24,lo8(-(-400))
 6894 4390 9140                 sbci r25,hi8(-(-400))
 6895 4392 A040                 sbci r26,hlo8(-(-400))
 6896 4394 B040                 sbci r27,hhi8(-(-400))
 6897 4396 8093 0000            sts SollHoehe,r24
 6898 439a 9093 0000            sts (SollHoehe)+1,r25
 6899 439e A093 0000            sts (SollHoehe)+2,r26
 6900 43a2 B093 0000            sts (SollHoehe)+3,r27
 6901 43a6 8091 0000            lds r24,EE_Parameter+22
 6902 43aa 8823                 tst r24
 6903 43ac 01F0                 breq .L753
 6904 43ae 90E0                 ldi r25,lo8(0)
 6905 43b0 00C0                 rjmp .L924
 6906                   .L753:
 6907 43b2 88E7                 ldi r24,lo8(120)
 6908 43b4 90E0                 ldi r25,hi8(120)
 6909                   .L924:
 6910 43b6 9093 0000            sts (StickGasHover.3347)+1,r25
 6911 43ba 8093 0000            sts StickGasHover.3347,r24
 6912 43be 7092 0000            sts (HoverGas)+1,r7
 6913 43c2 6092 0000            sts HoverGas,r6
 6914                   .L751:
 6915 43c6 4090 0000            lds r4,HoverGas
 6916 43ca 5090 0000            lds r5,(HoverGas)+1
 6917                   .L716:
 6918 43ce E090 0000            lds r14,HoehenWert
 6919 43d2 F090 0000            lds r15,(HoehenWert)+1
 6920 43d6 0091 0000            lds r16,(HoehenWert)+2
 6921 43da 1091 0000            lds r17,(HoehenWert)+3
 6922 43de 2091 0000            lds r18,SollHoehe
 6923 43e2 3091 0000            lds r19,(SollHoehe)+1
 6924 43e6 4091 0000            lds r20,(SollHoehe)+2
 6925 43ea 5091 0000            lds r21,(SollHoehe)+3
 6926 43ee 2E15                 cp r18,r14
 6927 43f0 3F05                 cpc r19,r15
 6928 43f2 4007                 cpc r20,r16
 6929 43f4 5107                 cpc r21,r17
 6930 43f6 04F0                 brlt .L756
 6931 43f8 2114                 cp r2,__zero_reg__
 6932 43fa 3104                 cpc r3,__zero_reg__
 6933 43fc 01F0                 breq .+2
 6934 43fe 00C0                 rjmp .L758
 6935                   .L756:
 6936 4400 8091 0000            lds r24,BaroExpandActive
 6937 4404 9091 0000            lds r25,(BaroExpandActive)+1
 6938 4408 892B                 or r24,r25
 6939 440a 01F0                 breq .L759
 6940 440c 4090 0000            lds r4,HoverGas
 6941 4410 5090 0000            lds r5,(HoverGas)+1
 6942 4414 8824                 clr r8
 6943 4416 9924                 clr r9
 6944 4418 CC24                 clr r12
 6945 441a DD24                 clr r13
 6946 441c 00C0                 rjmp .L761
 6947                   .L759:
 6948 441e D801                 movw r26,r16
 6949 4420 C701                 movw r24,r14
 6950 4422 821B                 sub r24,r18
 6951 4424 930B                 sbc r25,r19
 6952 4426 A40B                 sbc r26,r20
 6953 4428 B50B                 sbc r27,r21
 6954 442a 8093 0000            sts tmp_long.3308,r24
 6955 442e 9093 0000            sts (tmp_long.3308)+1,r25
 6956 4432 A093 0000            sts (tmp_long.3308)+2,r26
 6957 4436 B093 0000            sts (tmp_long.3308)+3,r27
 6958 443a 8230                 cpi r24,lo8(-32766)
 6959 443c E0E8                 ldi r30,hi8(-32766)
 6960 443e 9E07                 cpc r25,r30
 6961 4440 EFEF                 ldi r30,hlo8(-32766)
 6962 4442 AE07                 cpc r26,r30
 6963 4444 EFEF                 ldi r30,hhi8(-32766)
 6964 4446 BE07                 cpc r27,r30
 6965 4448 04F4                 brge .L762
 6966 444a 81E0                 ldi r24,lo8(-32767)
 6967 444c 90E8                 ldi r25,hi8(-32767)
 6968 444e AFEF                 ldi r26,hlo8(-32767)
 6969 4450 BFEF                 ldi r27,hhi8(-32767)
 6970 4452 00C0                 rjmp .L925
 6971                   .L762:
 6972 4454 8F5F                 subi r24,lo8(32767)
 6973 4456 9F47                 sbci r25,hi8(32767)
 6974 4458 A040                 sbci r26,hlo8(32767)
 6975 445a B040                 sbci r27,hhi8(32767)
 6976 445c 04F0                 brlt .L764
 6977 445e 8FEF                 ldi r24,lo8(32767)
 6978 4460 9FE7                 ldi r25,hi8(32767)
 6979 4462 A0E0                 ldi r26,hlo8(32767)
 6980 4464 B0E0                 ldi r27,hhi8(32767)
 6981                   .L925:
 6982 4466 8093 0000            sts tmp_long.3308,r24
 6983 446a 9093 0000            sts (tmp_long.3308)+1,r25
 6984 446e A093 0000            sts (tmp_long.3308)+2,r26
 6985 4472 B093 0000            sts (tmp_long.3308)+3,r27
 6986                   .L764:
 6987 4476 E090 0000            lds r14,tmp_long.3308
 6988 447a F090 0000            lds r15,(tmp_long.3308)+1
 6989 447e 0091 0000            lds r16,(tmp_long.3308)+2
 6990 4482 1091 0000            lds r17,(tmp_long.3308)+3
 6991 4486 6091 0000            lds r22,Parameter_Hoehe_P
 6992 448a 70E0                 ldi r23,lo8(0)
 6993 448c 80E0                 ldi r24,lo8(0)
 6994 448e 90E0                 ldi r25,hi8(0)
 6995 4490 A801                 movw r20,r16
 6996 4492 9701                 movw r18,r14
 6997 4494 0E94 0000            call __mulsi3
 6998 4498 20E2                 ldi r18,lo8(32)
 6999 449a 30E0                 ldi r19,hi8(32)
 7000 449c 40E0                 ldi r20,hlo8(32)
 7001 449e 50E0                 ldi r21,hhi8(32)
 7002 44a0 0E94 0000            call __divmodsi4
 7003 44a4 2093 0000            sts tmp_long.3308,r18
 7004 44a8 3093 0000            sts (tmp_long.3308)+1,r19
 7005 44ac 4093 0000            sts (tmp_long.3308)+2,r20
 7006 44b0 5093 0000            sts (tmp_long.3308)+3,r21
 7007 44b4 2530                 cpi r18,lo8(-507)
 7008 44b6 6EEF                 ldi r22,hi8(-507)
 7009 44b8 3607                 cpc r19,r22
 7010 44ba 6FEF                 ldi r22,hlo8(-507)
 7011 44bc 4607                 cpc r20,r22
 7012 44be 6FEF                 ldi r22,hhi8(-507)
 7013 44c0 5607                 cpc r21,r22
 7014 44c2 04F4                 brge .L766
 7015 44c4 84E0                 ldi r24,lo8(-508)
 7016 44c6 9EEF                 ldi r25,hi8(-508)
 7017 44c8 AFEF                 ldi r26,hlo8(-508)
 7018 44ca BFEF                 ldi r27,hhi8(-508)
 7019 44cc 00C0                 rjmp .L926
 7020                   .L766:
 7021 44ce 2050                 subi r18,lo8(1024)
 7022 44d0 3440                 sbci r19,hi8(1024)
 7023 44d2 4040                 sbci r20,hlo8(1024)
 7024 44d4 5040                 sbci r21,hhi8(1024)
 7025 44d6 04F0                 brlt .L768
 7026 44d8 80E0                 ldi r24,lo8(1024)
 7027 44da 94E0                 ldi r25,hi8(1024)
 7028 44dc A0E0                 ldi r26,hlo8(1024)
 7029 44de B0E0                 ldi r27,hhi8(1024)
 7030                   .L926:
 7031 44e0 8093 0000            sts tmp_long.3308,r24
 7032 44e4 9093 0000            sts (tmp_long.3308)+1,r25
 7033 44e8 A093 0000            sts (tmp_long.3308)+2,r26
 7034 44ec B093 0000            sts (tmp_long.3308)+3,r27
 7035                   .L768:
 7036 44f0 A090 0000            lds r10,tmp_long.3308
 7037 44f4 B090 0000            lds r11,(tmp_long.3308)+1
 7038 44f8 C090 0000            lds r12,(tmp_long.3308)+2
 7039 44fc D090 0000            lds r13,(tmp_long.3308)+3
 7040 4500 8091 0000            lds r24,VarioMeter
 7041 4504 9091 0000            lds r25,(VarioMeter)+1
 7042 4508 68E0                 ldi r22,lo8(8)
 7043 450a 70E0                 ldi r23,hi8(8)
 7044 450c 0E94 0000            call __divmodhi4
 7045 4510 8FEF                 ldi r24,hi8(-126)
 7046 4512 6238                 cpi r22,lo8(-126)
 7047 4514 7807                 cpc r23,r24
 7048 4516 04F4                 brge .L770
 7049 4518 61E8                 ldi r22,lo8(-127)
 7050 451a 7FEF                 ldi r23,hi8(-127)
 7051 451c 00C0                 rjmp .L772
 7052                   .L770:
 7053 451e 6038                 cpi r22,128
 7054 4520 7105                 cpc r23,__zero_reg__
 7055 4522 04F0                 brlt .L772
 7056 4524 60E8                 ldi r22,lo8(128)
 7057 4526 70E0                 ldi r23,hi8(128)
 7058                   .L772:
 7059 4528 8827                 clr r24
 7060 452a 77FD                 sbrc r23,7
 7061 452c 8095                 com r24
 7062 452e 982F                 mov r25,r24
 7063 4530 2091 0000            lds r18,Parameter_Luftdruck_D
 7064 4534 30E0                 ldi r19,lo8(0)
 7065 4536 40E0                 ldi r20,lo8(0)
 7066 4538 50E0                 ldi r21,hi8(0)
 7067 453a 0E94 0000            call __mulsi3
 7068 453e 24E0                 ldi r18,lo8(4)
 7069 4540 30E0                 ldi r19,hi8(4)
 7070 4542 40E0                 ldi r20,hlo8(4)
 7071 4544 50E0                 ldi r21,hhi8(4)
 7072 4546 0E94 0000            call __divmodsi4
 7073 454a B901                 movw r22,r18
 7074 454c 9FEF                 ldi r25,hi8(-255)
 7075 454e 2130                 cpi r18,lo8(-255)
 7076 4550 3907                 cpc r19,r25
 7077 4552 04F4                 brge .L774
 7078 4554 60E0                 ldi r22,lo8(-256)
 7079 4556 7FEF                 ldi r23,hi8(-256)
 7080 4558 00C0                 rjmp .L776
 7081                   .L774:
 7082 455a 2F3F                 cpi r18,255
 7083 455c 3105                 cpc r19,__zero_reg__
 7084 455e 01F0                 breq .L776
 7085 4560 04F0                 brlt .L776
 7086 4562 60E0                 ldi r22,lo8(256)
 7087 4564 71E0                 ldi r23,hi8(256)
 7088                   .L776:
 7089 4566 8091 0000            lds r24,FC_StatusFlags
 7090 456a 807C                 andi r24,lo8(-64)
 7091 456c 01F0                 breq .L778
 7092 456e CB01                 movw r24,r22
 7093 4570 64E0                 ldi r22,lo8(4)
 7094 4572 70E0                 ldi r23,hi8(4)
 7095 4574 00C0                 rjmp .L927
 7096                   .L778:
 7097 4576 2114                 cp r2,__zero_reg__
 7098 4578 3104                 cpc r3,__zero_reg__
 7099 457a 01F0                 breq .L780
 7100 457c CB01                 movw r24,r22
 7101 457e 68E0                 ldi r22,lo8(8)
 7102 4580 70E0                 ldi r23,hi8(8)
 7103                   .L927:
 7104 4582 0E94 0000            call __divmodhi4
 7105                   .L780:
 7106 4586 4701                 movw r8,r14
 7107 4588 6501                 movw r12,r10
 7108 458a C60E                 add r12,r22
 7109 458c D71E                 adc r13,r23
 7110                   .L761:
 7111 458e E090 0000            lds r14,Parameter_Hoehe_ACC_Wirkung
 7112 4592 EE20                 tst r14
 7113 4594 01F4                 brne .+2
 7114 4596 00C0                 rjmp .L782
 7115 4598 6091 0000            lds r22,Mess_Integral_Hoch
 7116 459c 7091 0000            lds r23,(Mess_Integral_Hoch)+1
 7117 45a0 8091 0000            lds r24,(Mess_Integral_Hoch)+2
 7118 45a4 9091 0000            lds r25,(Mess_Integral_Hoch)+3
 7119 45a8 FF24                 clr r15
 7120 45aa 00E0                 ldi r16,lo8(0)
 7121 45ac 10E0                 ldi r17,hi8(0)
 7122 45ae 20E8                 ldi r18,lo8(128)
 7123 45b0 30E0                 ldi r19,hi8(128)
 7124 45b2 40E0                 ldi r20,hlo8(128)
 7125 45b4 50E0                 ldi r21,hhi8(128)
 7126 45b6 0E94 0000            call __divmodsi4
 7127 45ba C801                 movw r24,r16
 7128 45bc B701                 movw r22,r14
 7129 45be 0E94 0000            call __mulsi3
 7130 45c2 20E2                 ldi r18,lo8(32)
 7131 45c4 30E0                 ldi r19,hi8(32)
 7132 45c6 40E0                 ldi r20,hlo8(32)
 7133 45c8 50E0                 ldi r21,hhi8(32)
 7134 45ca 0E94 0000            call __divmodsi4
 7135 45ce 2093 0000            sts tmp_long.3308,r18
 7136 45d2 3093 0000            sts (tmp_long.3308)+1,r19
 7137 45d6 4093 0000            sts (tmp_long.3308)+2,r20
 7138 45da 5093 0000            sts (tmp_long.3308)+3,r21
 7139 45de 2138                 cpi r18,lo8(-127)
 7140 45e0 AFEF                 ldi r26,hi8(-127)
 7141 45e2 3A07                 cpc r19,r26
 7142 45e4 AFEF                 ldi r26,hlo8(-127)
 7143 45e6 4A07                 cpc r20,r26
 7144 45e8 AFEF                 ldi r26,hhi8(-127)
 7145 45ea 5A07                 cpc r21,r26
 7146 45ec 04F4                 brge .L784
 7147 45ee 80E8                 ldi r24,lo8(-128)
 7148 45f0 9FEF                 ldi r25,hi8(-128)
 7149 45f2 AFEF                 ldi r26,hlo8(-128)
 7150 45f4 BFEF                 ldi r27,hhi8(-128)
 7151 45f6 00C0                 rjmp .L928
 7152                   .L784:
 7153 45f8 2F3F                 cpi r18,lo8(255)
 7154 45fa 3105                 cpc r19,__zero_reg__
 7155 45fc 4105                 cpc r20,__zero_reg__
 7156 45fe 5105                 cpc r21,__zero_reg__
 7157 4600 01F0                 breq .L786
 7158 4602 04F0                 brlt .L786
 7159 4604 80E0                 ldi r24,lo8(256)
 7160 4606 91E0                 ldi r25,hi8(256)
 7161 4608 A0E0                 ldi r26,hlo8(256)
 7162 460a B0E0                 ldi r27,hhi8(256)
 7163                   .L928:
 7164 460c 8093 0000            sts tmp_long.3308,r24
 7165 4610 9093 0000            sts (tmp_long.3308)+1,r25
 7166 4614 A093 0000            sts (tmp_long.3308)+2,r26
 7167 4618 B093 0000            sts (tmp_long.3308)+3,r27
 7168                   .L786:
 7169 461c 8091 0000            lds r24,tmp_long.3308
 7170 4620 9091 0000            lds r25,(tmp_long.3308)+1
 7171 4624 C80E                 add r12,r24
 7172 4626 D91E                 adc r13,r25
 7173                   .L782:
 7174 4628 8091 0000            lds r24,FromNaviCtrl_Value+4
 7175 462c 9927                 clr r25
 7176 462e 87FD                 sbrc r24,7
 7177 4630 9095                 com r25
 7178 4632 2091 0000            lds r18,Parameter_Hoehe_GPS_Z
 7179 4636 30E0                 ldi r19,lo8(0)
 7180 4638 FC01                 movw r30,r24
 7181 463a E29F                 mul r30,r18
 7182 463c C001                 movw r24,r0
 7183 463e E39F                 mul r30,r19
 7184 4640 900D                 add r25,r0
 7185 4642 F29F                 mul r31,r18
 7186 4644 900D                 add r25,r0
 7187 4646 1124                 clr r1
 7188 4648 60E8                 ldi r22,lo8(128)
 7189 464a 70E0                 ldi r23,hi8(128)
 7190 464c 0E94 0000            call __divmodhi4
 7191 4650 0091 0000            lds r16,HoverGas
 7192 4654 1091 0000            lds r17,(HoverGas)+1
 7193 4658 FFEF                 ldi r31,hi8(-128)
 7194 465a 6038                 cpi r22,lo8(-128)
 7195 465c 7F07                 cpc r23,r31
 7196 465e 04F4                 brge .L788
 7197 4660 60E8                 ldi r22,lo8(-128)
 7198 4662 7FEF                 ldi r23,hi8(-128)
 7199                   .L788:
 7200 4664 C60E                 add r12,r22
 7201 4666 D71E                 adc r13,r23
 7202 4668 B601                 movw r22,r12
 7203 466a 8827                 clr r24
 7204 466c 77FD                 sbrc r23,7
 7205 466e 8095                 com r24
 7206 4670 982F                 mov r25,r24
 7207 4672 9801                 movw r18,r16
 7208 4674 4427                 clr r20
 7209 4676 37FD                 sbrc r19,7
 7210 4678 4095                 com r20
 7211 467a 542F                 mov r21,r20
 7212 467c 0E94 0000            call __mulsi3
 7213 4680 20E0                 ldi r18,lo8(512)
 7214 4682 32E0                 ldi r19,hi8(512)
 7215 4684 40E0                 ldi r20,hlo8(512)
 7216 4686 50E0                 ldi r21,hhi8(512)
 7217 4688 0E94 0000            call __divmodsi4
 7218 468c B201                 movw r22,r4
 7219 468e 621B                 sub r22,r18
 7220 4690 730B                 sbc r23,r19
 7221 4692 8091 0000            lds r24,HeightTrimming.3345
 7222 4696 9091 0000            lds r25,(HeightTrimming.3345)+1
 7223 469a 892B                 or r24,r25
 7224 469c 01F0                 breq .+2
 7225 469e 00C0                 rjmp .L789
 7226 46a0 1016                 cp __zero_reg__,r16
 7227 46a2 1106                 cpc __zero_reg__,r17
 7228 46a4 04F0                 brlt .+2
 7229 46a6 00C0                 rjmp .L789
 7230 46a8 C401                 movw r24,r8
 7231 46aa 97FE                 sbrs r9,7
 7232 46ac 00C0                 rjmp .L792
 7233 46ae 8827                 clr r24
 7234 46b0 9927                 clr r25
 7235 46b2 8819                 sub r24,r8
 7236 46b4 9909                 sbc r25,r9
 7237                   .L792:
 7238 46b6 8D33                 cpi r24,61
 7239 46b8 9105                 cpc r25,__zero_reg__
 7240 46ba 00F4                 brsh .L793
 7241 46bc 8091 0000            lds r24,HoverGasMin.3348
 7242 46c0 9091 0000            lds r25,(HoverGasMin.3348)+1
 7243 46c4 8617                 cp r24,r22
 7244 46c6 9707                 cpc r25,r23
 7245 46c8 04F0                 brlt .+2
 7246 46ca 00C0                 rjmp .L929
 7247 46cc 00C0                 rjmp .L801
 7248                   .L793:
 7249 46ce 9C01                 movw r18,r24
 7250 46d0 2C53                 subi r18,lo8(-(-60))
 7251 46d2 3040                 sbci r19,hi8(-(-60))
 7252 46d4 A5E0                 ldi r26,5
 7253 46d6 3695         1:      lsr r19
 7254 46d8 2795                 ror r18
 7255 46da AA95                 dec r26
 7256 46dc 01F4                 brne 1b
 7257 46de 2031                 cpi r18,16
 7258 46e0 3105                 cpc r19,__zero_reg__
 7259 46e2 00F0                 brlo .L798
 7260 46e4 2FE0                 ldi r18,lo8(15)
 7261 46e6 30E0                 ldi r19,hi8(15)
 7262                   .L798:
 7263 46e8 4091 0000            lds r20,HoverGasMin.3348
 7264 46ec 5091 0000            lds r21,(HoverGasMin.3348)+1
 7265 46f0 1814                 cp __zero_reg__,r8
 7266 46f2 1904                 cpc __zero_reg__,r9
 7267 46f4 04F4                 brge .L799
 7268 46f6 80E1                 ldi r24,lo8(16)
 7269 46f8 90E0                 ldi r25,hi8(16)
 7270 46fa 821B                 sub r24,r18
 7271 46fc 930B                 sbc r25,r19
 7272 46fe 7C01                 movw r14,r24
 7273 4700 E49E                 mul r14,r20
 7274 4702 C001                 movw r24,r0
 7275 4704 E59E                 mul r14,r21
 7276 4706 900D                 add r25,r0
 7277 4708 F49E                 mul r15,r20
 7278 470a 900D                 add r25,r0
 7279 470c 1124                 clr r1
 7280 470e F4E0                 ldi r31,4
 7281 4710 9695         1:      lsr r25
 7282 4712 8795                 ror r24
 7283 4714 FA95                 dec r31
 7284 4716 01F4                 brne 1b
 7285 4718 8617                 cp r24,r22
 7286 471a 9707                 cpc r25,r23
 7287 471c 00F4                 brsh .L929
 7288                   .L801:
 7289 471e 8091 0000            lds r24,HoverGasMax.3349
 7290 4722 9091 0000            lds r25,(HoverGasMax.3349)+1
 7291 4726 8617                 cp r24,r22
 7292 4728 9707                 cpc r25,r23
 7293 472a 04F4                 brge .L789
 7294 472c 00C0                 rjmp .L929
 7295                   .L799:
 7296 472e 8091 0000            lds r24,HoverGasMax.3349
 7297 4732 9091 0000            lds r25,(HoverGasMax.3349)+1
 7298 4736 4617                 cp r20,r22
 7299 4738 5707                 cpc r21,r23
 7300 473a 04F0                 brlt .L804
 7301 473c BA01                 movw r22,r20
 7302 473e 00C0                 rjmp .L789
 7303                   .L804:
 7304 4740 205F                 subi r18,lo8(-(16))
 7305 4742 3F4F                 sbci r19,hi8(-(16))
 7306 4744 AC01                 movw r20,r24
 7307 4746 249F                 mul r18,r20
 7308 4748 C001                 movw r24,r0
 7309 474a 259F                 mul r18,r21
 7310 474c 900D                 add r25,r0
 7311 474e 349F                 mul r19,r20
 7312 4750 900D                 add r25,r0
 7313 4752 1124                 clr r1
 7314 4754 E4E0                 ldi r30,4
 7315 4756 9695         1:      lsr r25
 7316 4758 8795                 ror r24
 7317 475a EA95                 dec r30
 7318 475c 01F4                 brne 1b
 7319 475e 6817                 cp r22,r24
 7320 4760 7907                 cpc r23,r25
 7321 4762 00F0                 brlo .L789
 7322                   .L929:
 7323 4764 BC01                 movw r22,r24
 7324                   .L789:
 7325 4766 8827                 clr r24
 7326 4768 77FD                 sbrc r23,7
 7327 476a 8095                 com r24
 7328 476c 982F                 mov r25,r24
 7329 476e 5DE0                 ldi r21,13
 7330 4770 660F         1:      lsl r22
 7331 4772 771F                 rol r23
 7332 4774 881F                 rol r24
 7333 4776 991F                 rol r25
 7334 4778 5A95                 dec r21
 7335 477a 01F4                 brne 1b
 7336 477c AA85                 ldd r26,Y+10
 7337 477e BB85                 ldd r27,Y+11
 7338 4780 9D01                 movw r18,r26
 7339 4782 4427                 clr r20
 7340 4784 37FD                 sbrc r19,7
 7341 4786 4095                 com r20
 7342 4788 542F                 mov r21,r20
 7343 478a 0E94 0000            call __divmodsi4
 7344 478e 2093 0000            sts tmp_long2.3309,r18
 7345 4792 3093 0000            sts (tmp_long2.3309)+1,r19
 7346 4796 4093 0000            sts (tmp_long2.3309)+2,r20
 7347 479a 5093 0000            sts (tmp_long2.3309)+3,r21
 7348 479e 6091 0000            lds r22,FilterHCGas.3346
 7349 47a2 7091 0000            lds r23,(FilterHCGas.3346)+1
 7350 47a6 CB01                 movw r24,r22
 7351 47a8 880F                 lsl r24
 7352 47aa 991F                 rol r25
 7353 47ac 860F                 add r24,r22
 7354 47ae 971F                 adc r25,r23
 7355 47b0 820F                 add r24,r18
 7356 47b2 931F                 adc r25,r19
 7357 47b4 64E0                 ldi r22,lo8(4)
 7358 47b6 70E0                 ldi r23,hi8(4)
 7359 47b8 0E94 0000            call __divmodhi4
 7360 47bc 7093 0000            sts (FilterHCGas.3346)+1,r23
 7361 47c0 6093 0000            sts FilterHCGas.3346,r22
 7362 47c4 8091 0000            lds r24,EE_Parameter+14
 7363 47c8 90E0                 ldi r25,lo8(0)
 7364 47ca 880F                 lsl r24
 7365 47cc 991F                 rol r25
 7366 47ce 880F                 lsl r24
 7367 47d0 991F                 rol r25
 7368 47d2 8617                 cp r24,r22
 7369 47d4 9707                 cpc r25,r23
 7370 47d6 04F4                 brge .L930
 7371 47d8 8091 0000            lds r24,MAX_GAS
 7372 47dc 90E0                 ldi r25,lo8(0)
 7373 47de 880F                 lsl r24
 7374 47e0 991F                 rol r25
 7375 47e2 880F                 lsl r24
 7376 47e4 991F                 rol r25
 7377 47e6 8055                 subi r24,lo8(-(-80))
 7378 47e8 9040                 sbci r25,hi8(-(-80))
 7379 47ea 6817                 cp r22,r24
 7380 47ec 7907                 cpc r23,r25
 7381 47ee 04F0                 brlt .L809
 7382                   .L930:
 7383 47f0 9093 0000            sts (FilterHCGas.3346)+1,r25
 7384 47f4 8093 0000            sts FilterHCGas.3346,r24
 7385                   .L809:
 7386 47f8 2091 0000            lds r18,FilterHCGas.3346
 7387 47fc 3091 0000            lds r19,(FilterHCGas.3346)+1
 7388 4800 2328                 or r2,r3
 7389 4802 01F0                 breq .L811
 7390 4804 2615                 cp r18,r6
 7391 4806 3705                 cpc r19,r7
 7392 4808 04F0                 brlt .L813
 7393 480a 7092 0000            sts (FilterHCGas.3346)+1,r7
 7394 480e 6092 0000            sts FilterHCGas.3346,r6
 7395                   .L813:
 7396 4812 6090 0000            lds r6,FilterHCGas.3346
 7397 4816 7090 0000            lds r7,(FilterHCGas.3346)+1
 7398 481a 00C0                 rjmp .L758
 7399                   .L811:
 7400 481c C301                 movw r24,r6
 7401 481e 801B                 sub r24,r16
 7402 4820 910B                 sbc r25,r17
 7403 4822 64E0                 ldi r22,lo8(4)
 7404 4824 70E0                 ldi r23,hi8(4)
 7405 4826 0E94 0000            call __divmodhi4
 7406 482a 3B01                 movw r6,r22
 7407 482c 620E                 add r6,r18
 7408 482e 731E                 adc r7,r19
 7409 4830 00C0                 rjmp .L758
 7410                   .L710:
 7411 4832 8091 0000            lds r24,EE_Parameter+22
 7412 4836 8823                 tst r24
 7413 4838 01F4                 brne .L815
 7414 483a 8091 0000            lds r24,HoverGas
 7415 483e 9091 0000            lds r25,(HoverGas)+1
 7416 4842 64E0                 ldi r22,lo8(4)
 7417 4844 70E0                 ldi r23,hi8(4)
 7418 4846 0E94 0000            call __divmodhi4
 7419 484a 9B01                 movw r18,r22
 7420 484c 8091 0000            lds r24,UBat
 7421 4850 9091 0000            lds r25,(UBat)+1
 7422 4854 6091 0000            lds r22,BattLowVoltageWarning
 7423 4858 70E0                 ldi r23,lo8(0)
 7424 485a FC01                 movw r30,r24
 7425 485c 2E9F                 mul r18,r30
 7426 485e C001                 movw r24,r0
 7427 4860 2F9F                 mul r18,r31
 7428 4862 900D                 add r25,r0
 7429 4864 3E9F                 mul r19,r30
 7430 4866 900D                 add r25,r0
 7431 4868 1124                 clr r1
 7432 486a 0E94 0000            call __divmodhi4
 7433 486e 7093 0000            sts (StickGasHover.3347)+1,r23
 7434 4872 6093 0000            sts StickGasHover.3347,r22
 7435 4876 00C0                 rjmp .L817
 7436                   .L815:
 7437 4878 90E0                 ldi r25,lo8(0)
 7438 487a 9093 0000            sts (StickGasHover.3347)+1,r25
 7439 487e 8093 0000            sts StickGasHover.3347,r24
 7440                   .L817:
 7441 4882 8091 0000            lds r24,StickGasHover.3347
 7442 4886 9091 0000            lds r25,(StickGasHover.3347)+1
 7443 488a 8734                 cpi r24,71
 7444 488c 9105                 cpc r25,__zero_reg__
 7445 488e 04F4                 brge .L818
 7446 4890 86E4                 ldi r24,lo8(70)
 7447 4892 90E0                 ldi r25,hi8(70)
 7448 4894 00C0                 rjmp .L931
 7449                   .L818:
 7450 4896 8639                 cpi r24,150
 7451 4898 9105                 cpc r25,__zero_reg__
 7452 489a 04F0                 brlt .L820
 7453 489c 86E9                 ldi r24,lo8(150)
 7454 489e 90E0                 ldi r25,hi8(150)
 7455                   .L931:
 7456 48a0 9093 0000            sts (StickGasHover.3347)+1,r25
 7457 48a4 8093 0000            sts StickGasHover.3347,r24
 7458                   .L820:
 7459 48a8 7092 0000            sts (FilterHCGas.3346)+1,r7
 7460 48ac 6092 0000            sts FilterHCGas.3346,r6
 7461 48b0 8091 0000            lds r24,FC_StatusFlags
 7462 48b4 806C                 ori r24,lo8(-64)
 7463 48b6 8093 0000            sts FC_StatusFlags,r24
 7464                   .L758:
 7465 48ba 8091 0000            lds r24,FC_StatusFlags
 7466 48be 81FF                 sbrs r24,1
 7467 48c0 00C0                 rjmp .L822
 7468 48c2 8091 0000            lds r24,HoverGasFilter.3350
 7469 48c6 9091 0000            lds r25,(HoverGasFilter.3350)+1
 7470 48ca A091 0000            lds r26,(HoverGasFilter.3350)+2
 7471 48ce B091 0000            lds r27,(HoverGasFilter.3350)+3
 7472 48d2 0097                 sbiw r24,0
 7473 48d4 A105                 cpc r26,__zero_reg__
 7474 48d6 B105                 cpc r27,__zero_reg__
 7475 48d8 01F0                 breq .L824
 7476 48da 8091 0000            lds r24,StartTrigger
 7477 48de 8130                 cpi r24,lo8(1)
 7478 48e0 01F4                 brne .L826
 7479                   .L824:
 7480 48e2 C301                 movw r24,r6
 7481 48e4 AA27                 clr r26
 7482 48e6 97FD                 sbrc r25,7
 7483 48e8 A095                 com r26
 7484 48ea BA2F                 mov r27,r26
 7485 48ec FEE0                 ldi r31,14
 7486 48ee 880F         1:      lsl r24
 7487 48f0 991F                 rol r25
 7488 48f2 AA1F                 rol r26
 7489 48f4 BB1F                 rol r27
 7490 48f6 FA95                 dec r31
 7491 48f8 01F4                 brne 1b
 7492 48fa 8093 0000            sts HoverGasFilter.3350,r24
 7493 48fe 9093 0000            sts (HoverGasFilter.3350)+1,r25
 7494 4902 A093 0000            sts (HoverGasFilter.3350)+2,r26
 7495 4906 B093 0000            sts (HoverGasFilter.3350)+3,r27
 7496                   .L826:
 7497 490a 8091 0000            lds r24,StartTrigger
 7498 490e 8130                 cpi r24,lo8(1)
 7499 4910 01F4                 brne .L827
 7500 4912 82E0                 ldi r24,lo8(2)
 7501 4914 8093 0000            sts StartTrigger,r24
 7502                   .L827:
 7503 4918 B301                 movw r22,r6
 7504 491a 8827                 clr r24
 7505 491c 77FD                 sbrc r23,7
 7506 491e 8095                 com r24
 7507 4920 982F                 mov r25,r24
 7508 4922 EA84                 ldd r14,Y+10
 7509 4924 FB84                 ldd r15,Y+11
 7510 4926 9701                 movw r18,r14
 7511 4928 4427                 clr r20
 7512 492a 37FD                 sbrc r19,7
 7513 492c 4095                 com r20
 7514 492e 542F                 mov r21,r20
 7515 4930 0E94 0000            call __mulsi3
 7516 4934 20E0                 ldi r18,lo8(8192)
 7517 4936 30E2                 ldi r19,hi8(8192)
 7518 4938 40E0                 ldi r20,hlo8(8192)
 7519 493a 50E0                 ldi r21,hhi8(8192)
 7520 493c 0E94 0000            call __divmodsi4
 7521 4940 7901                 movw r14,r18
 7522 4942 8A01                 movw r16,r20
 7523 4944 2093 0000            sts tmp_long2.3309,r18
 7524 4948 3093 0000            sts (tmp_long2.3309)+1,r19
 7525 494c 4093 0000            sts (tmp_long2.3309)+2,r20
 7526 4950 5093 0000            sts (tmp_long2.3309)+3,r21
 7527 4954 6091 0000            lds r22,modell_fliegt
 7528 4958 7091 0000            lds r23,(modell_fliegt)+1
 7529 495c 2FE0                 ldi r18,hi8(4000)
 7530 495e 603A                 cpi r22,lo8(4000)
 7531 4960 7207                 cpc r23,r18
 7532 4962 00F4                 brsh .L829
 7533 4964 8091 0000            lds r24,HoverGasFilter.3350
 7534 4968 9091 0000            lds r25,(HoverGasFilter.3350)+1
 7535 496c A091 0000            lds r26,(HoverGasFilter.3350)+2
 7536 4970 B091 0000            lds r27,(HoverGasFilter.3350)+3
 7537 4974 9C01                 movw r18,r24
 7538 4976 AD01                 movw r20,r26
 7539 4978 EAE0                 ldi r30,10
 7540 497a 5695         1:      lsr r21
 7541 497c 4795                 ror r20
 7542 497e 3795                 ror r19
 7543 4980 2795                 ror r18
 7544 4982 EA95                 dec r30
 7545 4984 01F4                 brne 1b
 7546 4986 821B                 sub r24,r18
 7547 4988 930B                 sbc r25,r19
 7548 498a A40B                 sbc r26,r20
 7549 498c B50B                 sbc r27,r21
 7550 498e A801                 movw r20,r16
 7551 4990 9701                 movw r18,r14
 7552 4992 F4E0                 ldi r31,4
 7553 4994 220F         1:      lsl r18
 7554 4996 331F                 rol r19
 7555 4998 441F                 rol r20
 7556 499a 551F                 rol r21
 7557 499c FA95                 dec r31
 7558 499e 01F4                 brne 1b
 7559 49a0 280F                 add r18,r24
 7560 49a2 391F                 adc r19,r25
 7561 49a4 4A1F                 adc r20,r26
 7562 49a6 5B1F                 adc r21,r27
 7563 49a8 2093 0000            sts HoverGasFilter.3350,r18
 7564 49ac 3093 0000            sts (HoverGasFilter.3350)+1,r19
 7565 49b0 4093 0000            sts (HoverGasFilter.3350)+2,r20
 7566 49b4 5093 0000            sts (HoverGasFilter.3350)+3,r21
 7567                   .L829:
 7568 49b8 6054                 subi r22,lo8(8000)
 7569 49ba 7F41                 sbci r23,hi8(8000)
 7570 49bc 00F4                 brsh .L831
 7571 49be 8091 0000            lds r24,HoverGasFilter.3350
 7572 49c2 9091 0000            lds r25,(HoverGasFilter.3350)+1
 7573 49c6 A091 0000            lds r26,(HoverGasFilter.3350)+2
 7574 49ca B091 0000            lds r27,(HoverGasFilter.3350)+3
 7575 49ce 9C01                 movw r18,r24
 7576 49d0 AD01                 movw r20,r26
 7577 49d2 ECE0                 ldi r30,12
 7578 49d4 5695         1:      lsr r21
 7579 49d6 4795                 ror r20
 7580 49d8 3795                 ror r19
 7581 49da 2795                 ror r18
 7582 49dc EA95                 dec r30
 7583 49de 01F4                 brne 1b
 7584 49e0 821B                 sub r24,r18
 7585 49e2 930B                 sbc r25,r19
 7586 49e4 A40B                 sbc r26,r20
 7587 49e6 B50B                 sbc r27,r21
 7588 49e8 72E0                 ldi r23,2
 7589 49ea EE0C         1:      lsl r14
 7590 49ec FF1C                 rol r15
 7591 49ee 001F                 rol r16
 7592 49f0 111F                 rol r17
 7593 49f2 7A95                 dec r23
 7594 49f4 01F4                 brne 1b
 7595 49f6 00C0                 rjmp .L932
 7596                   .L831:
 7597 49f8 8091 0000            lds r24,VarioMeter
 7598 49fc 9091 0000            lds r25,(VarioMeter)+1
 7599 4a00 97FF                 sbrs r25,7
 7600 4a02 00C0                 rjmp .L834
 7601 4a04 9095                 com r25
 7602 4a06 8195                 neg r24
 7603 4a08 9F4F                 sbci r25,lo8(-1)
 7604                   .L834:
 7605 4a0a 8436                 cpi r24,100
 7606 4a0c 9105                 cpc r25,__zero_reg__
 7607 4a0e 04F4                 brge .L833
 7608 4a10 8091 0000            lds r24,HoverGasFilter.3350
 7609 4a14 9091 0000            lds r25,(HoverGasFilter.3350)+1
 7610 4a18 A091 0000            lds r26,(HoverGasFilter.3350)+2
 7611 4a1c B091 0000            lds r27,(HoverGasFilter.3350)+3
 7612 4a20 9C01                 movw r18,r24
 7613 4a22 AD01                 movw r20,r26
 7614 4a24 6EE0                 ldi r22,14
 7615 4a26 5695         1:      lsr r21
 7616 4a28 4795                 ror r20
 7617 4a2a 3795                 ror r19
 7618 4a2c 2795                 ror r18
 7619 4a2e 6A95                 dec r22
 7620 4a30 01F4                 brne 1b
 7621 4a32 821B                 sub r24,r18
 7622 4a34 930B                 sbc r25,r19
 7623 4a36 A40B                 sbc r26,r20
 7624 4a38 B50B                 sbc r27,r21
 7625                   .L932:
 7626 4a3a 8E0D                 add r24,r14
 7627 4a3c 9F1D                 adc r25,r15
 7628 4a3e A01F                 adc r26,r16
 7629 4a40 B11F                 adc r27,r17
 7630 4a42 8093 0000            sts HoverGasFilter.3350,r24
 7631 4a46 9093 0000            sts (HoverGasFilter.3350)+1,r25
 7632 4a4a A093 0000            sts (HoverGasFilter.3350)+2,r26
 7633 4a4e B093 0000            sts (HoverGasFilter.3350)+3,r27
 7634                   .L833:
 7635 4a52 8091 0000            lds r24,HoverGasFilter.3350
 7636 4a56 9091 0000            lds r25,(HoverGasFilter.3350)+1
 7637 4a5a A091 0000            lds r26,(HoverGasFilter.3350)+2
 7638 4a5e B091 0000            lds r27,(HoverGasFilter.3350)+3
 7639 4a62 1EE0                 ldi r17,14
 7640 4a64 B695         1:      lsr r27
 7641 4a66 A795                 ror r26
 7642 4a68 9795                 ror r25
 7643 4a6a 8795                 ror r24
 7644 4a6c 1A95                 dec r17
 7645 4a6e 01F4                 brne 1b
 7646 4a70 9C01                 movw r18,r24
 7647 4a72 9093 0000            sts (HoverGas)+1,r25
 7648 4a76 8093 0000            sts HoverGas,r24
 7649 4a7a 6091 0000            lds r22,EE_Parameter+20
 7650 4a7e 6623                 tst r22
 7651 4a80 01F0                 breq .L836
 7652 4a82 70E0                 ldi r23,lo8(0)
 7653 4a84 0E94 0000            call __divmodhi4
 7654 4a88 C901                 movw r24,r18
 7655 4a8a 861B                 sub r24,r22
 7656 4a8c 970B                 sbc r25,r23
 7657 4a8e 9093 0000            sts (HoverGasMin.3348)+1,r25
 7658 4a92 8093 0000            sts HoverGasMin.3348,r24
 7659 4a96 260F                 add r18,r22
 7660 4a98 371F                 adc r19,r23
 7661 4a9a 3093 0000            sts (HoverGasMax.3349)+1,r19
 7662 4a9e 2093 0000            sts HoverGasMax.3349,r18
 7663 4aa2 00C0                 rjmp .L838
 7664                   .L836:
 7665 4aa4 1092 0000            sts (HoverGasMin.3348)+1,__zero_reg__
 7666 4aa8 1092 0000            sts HoverGasMin.3348,__zero_reg__
 7667 4aac 8FEF                 ldi r24,lo8(1023)
 7668 4aae 93E0                 ldi r25,hi8(1023)
 7669 4ab0 9093 0000            sts (HoverGasMax.3349)+1,r25
 7670 4ab4 8093 0000            sts HoverGasMax.3349,r24
 7671 4ab8 00C0                 rjmp .L838
 7672                   .L822:
 7673 4aba 1092 0000            sts StartTrigger,__zero_reg__
 7674 4abe 1092 0000            sts HoverGasFilter.3350,__zero_reg__
 7675 4ac2 1092 0000            sts (HoverGasFilter.3350)+1,__zero_reg__
 7676 4ac6 1092 0000            sts (HoverGasFilter.3350)+2,__zero_reg__
 7677 4aca 1092 0000            sts (HoverGasFilter.3350)+3,__zero_reg__
 7678 4ace 1092 0000            sts (HoverGas)+1,__zero_reg__
 7679 4ad2 1092 0000            sts HoverGas,__zero_reg__
 7680 4ad6 00C0                 rjmp .L838
 7681                   .L687:
 7682 4ad8 8091 0000            lds r24,FC_StatusFlags
 7683 4adc 806C                 ori r24,lo8(-64)
 7684 4ade 8093 0000            sts FC_StatusFlags,r24
 7685                   .L838:
 7686 4ae2 8091 0000            lds r24,MIN_GAS
 7687 4ae6 482F                 mov r20,r24
 7688 4ae8 50E0                 ldi r21,lo8(0)
 7689 4aea 440F                 lsl r20
 7690 4aec 551F                 rol r21
 7691 4aee 440F                 lsl r20
 7692 4af0 551F                 rol r21
 7693 4af2 5D87                 std Y+13,r21
 7694 4af4 4C87                 std Y+12,r20
 7695 4af6 9A01                 movw r18,r20
 7696 4af8 285D                 subi r18,lo8(-(40))
 7697 4afa 3F4F                 sbci r19,hi8(-(40))
 7698 4afc B301                 movw r22,r6
 7699 4afe 6216                 cp r6,r18
 7700 4b00 7306                 cpc r7,r19
 7701 4b02 04F4                 brge .L839
 7702 4b04 B901                 movw r22,r18
 7703                   .L839:
 7704 4b06 8091 0000            lds r24,MAX_GAS
 7705 4b0a 682E                 mov r6,r24
 7706 4b0c 7724                 clr r7
 7707 4b0e 660C                 lsl r6
 7708 4b10 771C                 rol r7
 7709 4b12 660C                 lsl r6
 7710 4b14 771C                 rol r7
 7711 4b16 C301                 movw r24,r6
 7712 4b18 8055                 subi r24,lo8(-(-80))
 7713 4b1a 9040                 sbci r25,hi8(-(-80))
 7714 4b1c 5B01                 movw r10,r22
 7715 4b1e 8617                 cp r24,r22
 7716 4b20 9707                 cpc r25,r23
 7717 4b22 04F4                 brge .L840
 7718 4b24 5C01                 movw r10,r24
 7719                   .L840:
 7720 4b26 8091 0000            lds r24,MissingMotor
 7721 4b2a 8823                 tst r24
 7722 4b2c 01F4                 brne .L841
 7723 4b2e 8091 0000            lds r24,Capacity+6
 7724 4b32 8F3F                 cpi r24,lo8(-1)
 7725 4b34 01F0                 breq .L843
 7726                   .L841:
 7727 4b36 8091 0000            lds r24,modell_fliegt
 7728 4b3a 9091 0000            lds r25,(modell_fliegt)+1
 7729 4b3e 0297                 sbiw r24,2
 7730 4b40 C097                 sbiw r24,48
 7731 4b42 00F4                 brsh .L843
 7732 4b44 1A14                 cp __zero_reg__,r10
 7733 4b46 1B04                 cpc __zero_reg__,r11
 7734 4b48 04F4                 brge .L843
 7735 4b4a 81E0                 ldi r24,lo8(1)
 7736 4b4c 90E0                 ldi r25,hi8(1)
 7737 4b4e 9093 0000            sts (modell_fliegt)+1,r25
 7738 4b52 8093 0000            sts modell_fliegt,r24
 7739 4b56 5901                 movw r10,r18
 7740                   .L843:
 7741 4b58 B092 0000            sts (DebugOut+16)+1,r11
 7742 4b5c A092 0000            sts DebugOut+16,r10
 7743 4b60 8091 0000            lds r24,sollGier.3307
 7744 4b64 9091 0000            lds r25,(sollGier.3307)+1
 7745 4b68 A091 0000            lds r26,(sollGier.3307)+2
 7746 4b6c B091 0000            lds r27,(sollGier.3307)+3
 7747 4b70 62E0                 ldi r22,2
 7748 4b72 880F         1:      lsl r24
 7749 4b74 991F                 rol r25
 7750 4b76 AA1F                 rol r26
 7751 4b78 BB1F                 rol r27
 7752 4b7a 6A95                 dec r22
 7753 4b7c 01F4                 brne 1b
 7754 4b7e 2091 0000            lds r18,MesswertGier
 7755 4b82 3091 0000            lds r19,(MesswertGier)+1
 7756 4b86 281B                 sub r18,r24
 7757 4b88 390B                 sbc r19,r25
 7758 4b8a 51EA                 ldi r21,lo8(161)
 7759 4b8c A516                 cp r10,r21
 7760 4b8e B104                 cpc r11,__zero_reg__
 7761 4b90 04F0                 brlt .L846
 7762 4b92 F501                 movw r30,r10
 7763 4b94 F595                 asr r31
 7764 4b96 E795                 ror r30
 7765 4b98 2E17                 cp r18,r30
 7766 4b9a 3F07                 cpc r19,r31
 7767 4b9c 04F4                 brge .L848
 7768 4b9e F901                 movw r30,r18
 7769                   .L848:
 7770 4ba0 C501                 movw r24,r10
 7771 4ba2 62E0                 ldi r22,lo8(2)
 7772 4ba4 70E0                 ldi r23,hi8(2)
 7773 4ba6 0E94 0000            call __divmodhi4
 7774 4baa 7095                 com r23
 7775 4bac 6195                 neg r22
 7776 4bae 7F4F                 sbci r23,lo8(-1)
 7777 4bb0 CF01                 movw r24,r30
 7778 4bb2 E617                 cp r30,r22
 7779 4bb4 F707                 cpc r31,r23
 7780 4bb6 04F4                 brge .L850
 7781 4bb8 CB01                 movw r24,r22
 7782 4bba 00C0                 rjmp .L850
 7783                   .L846:
 7784 4bbc C901                 movw r24,r18
 7785 4bbe 205B                 subi r18,lo8(-80)
 7786 4bc0 3F4F                 sbci r19,hi8(-80)
 7787 4bc2 04F4                 brge .L851
 7788 4bc4 80EB                 ldi r24,lo8(-80)
 7789 4bc6 9FEF                 ldi r25,hi8(-80)
 7790                   .L851:
 7791 4bc8 8135                 cpi r24,81
 7792 4bca 9105                 cpc r25,__zero_reg__
 7793 4bcc 04F0                 brlt .L850
 7794 4bce 80E5                 ldi r24,lo8(80)
 7795 4bd0 90E0                 ldi r25,hi8(80)
 7796                   .L850:
 7797 4bd2 9301                 movw r18,r6
 7798 4bd4 2A19                 sub r18,r10
 7799 4bd6 3B09                 sbc r19,r11
 7800 4bd8 2817                 cp r18,r24
 7801 4bda 3907                 cpc r19,r25
 7802 4bdc 04F4                 brge .L853
 7803 4bde C901                 movw r24,r18
 7804                   .L853:
 7805 4be0 9501                 movw r18,r10
 7806 4be2 2619                 sub r18,r6
 7807 4be4 3709                 sbc r19,r7
 7808 4be6 4C01                 movw r8,r24
 7809 4be8 8217                 cp r24,r18
 7810 4bea 9307                 cpc r25,r19
 7811 4bec 04F4                 brge .L854
 7812 4bee 4901                 movw r8,r18
 7813                   .L854:
 7814 4bf0 8091 0000            lds r24,StickNick
 7815 4bf4 9091 0000            lds r25,(StickNick)+1
 7816 4bf8 6091 0000            lds r22,MesswertNick
 7817 4bfc 7091 0000            lds r23,(MesswertNick)+1
 7818 4c00 681B                 sub r22,r24
 7819 4c02 790B                 sbc r23,r25
 7820 4c04 7093 0000            sts (DiffNick)+1,r23
 7821 4c08 6093 0000            sts DiffNick,r22
 7822 4c0c C090 0000            lds r12,IntegralFaktor
 7823 4c10 2091 0000            lds r18,SummeNick
 7824 4c14 3091 0000            lds r19,(SummeNick)+1
 7825 4c18 4091 0000            lds r20,(SummeNick)+2
 7826 4c1c 5091 0000            lds r21,(SummeNick)+3
 7827 4c20 CC20                 tst r12
 7828 4c22 01F0                 breq .L855
 7829 4c24 AA89                 ldd r26,Y+18
 7830 4c26 BB89                 ldd r27,Y+19
 7831 4c28 A81B                 sub r26,r24
 7832 4c2a B90B                 sbc r27,r25
 7833 4c2c FD01                 movw r30,r26
 7834 4c2e CF01                 movw r24,r30
 7835 4c30 AA27                 clr r26
 7836 4c32 97FD                 sbrc r25,7
 7837 4c34 A095                 com r26
 7838 4c36 BA2F                 mov r27,r26
 7839 4c38 00C0                 rjmp .L933
 7840                   .L855:
 7841 4c3a CB01                 movw r24,r22
 7842 4c3c AA27                 clr r26
 7843 4c3e 97FD                 sbrc r25,7
 7844 4c40 A095                 com r26
 7845 4c42 BA2F                 mov r27,r26
 7846                   .L933:
 7847 4c44 280F                 add r18,r24
 7848 4c46 391F                 adc r19,r25
 7849 4c48 4A1F                 adc r20,r26
 7850 4c4a 5B1F                 adc r21,r27
 7851 4c4c 2093 0000            sts SummeNick,r18
 7852 4c50 3093 0000            sts (SummeNick)+1,r19
 7853 4c54 4093 0000            sts (SummeNick)+2,r20
 7854 4c58 5093 0000            sts (SummeNick)+3,r21
 7855 4c5c 8091 0000            lds r24,SummeNick
 7856 4c60 9091 0000            lds r25,(SummeNick)+1
 7857 4c64 A091 0000            lds r26,(SummeNick)+2
 7858 4c68 B091 0000            lds r27,(SummeNick)+3
 7859 4c6c 8150                 subi r24,lo8(64001)
 7860 4c6e 9A4F                 sbci r25,hi8(64001)
 7861 4c70 A040                 sbci r26,hlo8(64001)
 7862 4c72 B040                 sbci r27,hhi8(64001)
 7863 4c74 04F0                 brlt .L858
 7864 4c76 80E0                 ldi r24,lo8(64000)
 7865 4c78 9AEF                 ldi r25,hi8(64000)
 7866 4c7a A0E0                 ldi r26,hlo8(64000)
 7867 4c7c B0E0                 ldi r27,hhi8(64000)
 7868 4c7e 8093 0000            sts SummeNick,r24
 7869 4c82 9093 0000            sts (SummeNick)+1,r25
 7870 4c86 A093 0000            sts (SummeNick)+2,r26
 7871 4c8a B093 0000            sts (SummeNick)+3,r27
 7872                   .L858:
 7873 4c8e 8091 0000            lds r24,SummeNick
 7874 4c92 9091 0000            lds r25,(SummeNick)+1
 7875 4c96 A091 0000            lds r26,(SummeNick)+2
 7876 4c9a B091 0000            lds r27,(SummeNick)+3
 7877 4c9e 8050                 subi r24,lo8(-64000)
 7878 4ca0 9640                 sbci r25,hi8(-64000)
 7879 4ca2 AF4F                 sbci r26,hlo8(-64000)
 7880 4ca4 BF4F                 sbci r27,hhi8(-64000)
 7881 4ca6 04F4                 brge .L860
 7882 4ca8 80E0                 ldi r24,lo8(-64000)
 7883 4caa 96E0                 ldi r25,hi8(-64000)
 7884 4cac AFEF                 ldi r26,hlo8(-64000)
 7885 4cae BFEF                 ldi r27,hhi8(-64000)
 7886 4cb0 8093 0000            sts SummeNick,r24
 7887 4cb4 9093 0000            sts (SummeNick)+1,r25
 7888 4cb8 A093 0000            sts (SummeNick)+2,r26
 7889 4cbc B093 0000            sts (SummeNick)+3,r27
 7890                   .L860:
 7891 4cc0 D090 0000            lds r13,EE_Parameter+35
 7892 4cc4 18E0                 ldi r17,lo8(8)
 7893 4cc6 1D15                 cp r17,r13
 7894 4cc8 00F0                 brlo .L862
 7895 4cca 8D2D                 mov r24,r13
 7896 4ccc 90E0                 ldi r25,lo8(0)
 7897 4cce 9C01                 movw r18,r24
 7898 4cd0 269F                 mul r18,r22
 7899 4cd2 C001                 movw r24,r0
 7900 4cd4 279F                 mul r18,r23
 7901 4cd6 900D                 add r25,r0
 7902 4cd8 369F                 mul r19,r22
 7903 4cda 900D                 add r25,r0
 7904 4cdc 1124                 clr r1
 7905 4cde 68E0                 ldi r22,lo8(8)
 7906 4ce0 70E0                 ldi r23,hi8(8)
 7907 4ce2 00C0                 rjmp .L934
 7908                   .L862:
 7909 4ce4 8D2D                 mov r24,r13
 7910 4ce6 8695                 lsr r24
 7911 4ce8 90E0                 ldi r25,lo8(0)
 7912 4cea AC01                 movw r20,r24
 7913 4cec 469F                 mul r20,r22
 7914 4cee C001                 movw r24,r0
 7915 4cf0 479F                 mul r20,r23
 7916 4cf2 900D                 add r25,r0
 7917 4cf4 569F                 mul r21,r22
 7918 4cf6 900D                 add r25,r0
 7919 4cf8 1124                 clr r1
 7920 4cfa 64E0                 ldi r22,lo8(4)
 7921 4cfc 70E0                 ldi r23,hi8(4)
 7922                   .L934:
 7923 4cfe 0E94 0000            call __divmodhi4
 7924 4d02 8B01                 movw r16,r22
 7925 4d04 8091 0000            lds r24,Ki
 7926 4d08 9091 0000            lds r25,(Ki)+1
 7927 4d0c 1C01                 movw r2,r24
 7928 4d0e 4424                 clr r4
 7929 4d10 37FC                 sbrc r3,7
 7930 4d12 4094                 com r4
 7931 4d14 542C                 mov r5,r4
 7932 4d16 6091 0000            lds r22,SummeNick
 7933 4d1a 7091 0000            lds r23,(SummeNick)+1
 7934 4d1e 8091 0000            lds r24,(SummeNick)+2
 7935 4d22 9091 0000            lds r25,(SummeNick)+3
 7936 4d26 A201                 movw r20,r4
 7937 4d28 9101                 movw r18,r2
 7938 4d2a 0E94 0000            call __divmodsi4
 7939 4d2e 020F                 add r16,r18
 7940 4d30 131F                 adc r17,r19
 7941 4d32 C401                 movw r24,r8
 7942 4d34 97FE                 sbrs r9,7
 7943 4d36 00C0                 rjmp .L865
 7944 4d38 8827                 clr r24
 7945 4d3a 9927                 clr r25
 7946 4d3c 8819                 sub r24,r8
 7947 4d3e 9909                 sbc r25,r9
 7948                   .L865:
 7949 4d40 62E0                 ldi r22,lo8(2)
 7950 4d42 70E0                 ldi r23,hi8(2)
 7951 4d44 0E94 0000            call __divmodhi4
 7952 4d48 6A0D                 add r22,r10
 7953 4d4a 7B1D                 adc r23,r11
 7954 4d4c 8827                 clr r24
 7955 4d4e 77FD                 sbrc r23,7
 7956 4d50 8095                 com r24
 7957 4d52 982F                 mov r25,r24
 7958 4d54 2091 0000            lds r18,Parameter_DynamicStability
 7959 4d58 30E0                 ldi r19,lo8(0)
 7960 4d5a 40E0                 ldi r20,lo8(0)
 7961 4d5c 50E0                 ldi r21,hi8(0)
 7962 4d5e 0E94 0000            call __mulsi3
 7963 4d62 20E4                 ldi r18,lo8(64)
 7964 4d64 30E0                 ldi r19,hi8(64)
 7965 4d66 40E0                 ldi r20,hlo8(64)
 7966 4d68 50E0                 ldi r21,hhi8(64)
 7967 4d6a 0E94 0000            call __divmodsi4
 7968 4d6e 7901                 movw r14,r18
 7969 4d70 B801                 movw r22,r16
 7970 4d72 2017                 cp r18,r16
 7971 4d74 3107                 cpc r19,r17
 7972 4d76 04F4                 brge .L866
 7973 4d78 B901                 movw r22,r18
 7974                   .L866:
 7975 4d7a 0027                 clr r16
 7976 4d7c 1127                 clr r17
 7977 4d7e 0E19                 sub r16,r14
 7978 4d80 1F09                 sbc r17,r15
 7979 4d82 7F87                 std Y+15,r23
 7980 4d84 6E87                 std Y+14,r22
 7981 4d86 6017                 cp r22,r16
 7982 4d88 7107                 cpc r23,r17
 7983 4d8a 04F4                 brge .L867
 7984 4d8c 1F87                 std Y+15,r17
 7985 4d8e 0E87                 std Y+14,r16
 7986                   .L867:
 7987 4d90 8091 0000            lds r24,StickRoll
 7988 4d94 9091 0000            lds r25,(StickRoll)+1
 7989 4d98 6091 0000            lds r22,MesswertRoll
 7990 4d9c 7091 0000            lds r23,(MesswertRoll)+1
 7991 4da0 681B                 sub r22,r24
 7992 4da2 790B                 sbc r23,r25
 7993 4da4 7093 0000            sts (DiffRoll)+1,r23
 7994 4da8 6093 0000            sts DiffRoll,r22
 7995 4dac 2091 0000            lds r18,SummeRoll
 7996 4db0 3091 0000            lds r19,(SummeRoll)+1
 7997 4db4 4091 0000            lds r20,(SummeRoll)+2
 7998 4db8 5091 0000            lds r21,(SummeRoll)+3
 7999 4dbc CC20                 tst r12
 8000 4dbe 01F0                 breq .L868
 8001 4dc0 A889                 ldd r26,Y+16
 8002 4dc2 B989                 ldd r27,Y+17
 8003 4dc4 A81B                 sub r26,r24
 8004 4dc6 B90B                 sbc r27,r25
 8005 4dc8 FD01                 movw r30,r26
 8006 4dca CF01                 movw r24,r30
 8007 4dcc AA27                 clr r26
 8008 4dce 97FD                 sbrc r25,7
 8009 4dd0 A095                 com r26
 8010 4dd2 BA2F                 mov r27,r26
 8011 4dd4 00C0                 rjmp .L935
 8012                   .L868:
 8013 4dd6 CB01                 movw r24,r22
 8014 4dd8 AA27                 clr r26
 8015 4dda 97FD                 sbrc r25,7
 8016 4ddc A095                 com r26
 8017 4dde BA2F                 mov r27,r26
 8018                   .L935:
 8019 4de0 280F                 add r18,r24
 8020 4de2 391F                 adc r19,r25
 8021 4de4 4A1F                 adc r20,r26
 8022 4de6 5B1F                 adc r21,r27
 8023 4de8 2093 0000            sts SummeRoll,r18
 8024 4dec 3093 0000            sts (SummeRoll)+1,r19
 8025 4df0 4093 0000            sts (SummeRoll)+2,r20
 8026 4df4 5093 0000            sts (SummeRoll)+3,r21
 8027 4df8 8091 0000            lds r24,SummeRoll
 8028 4dfc 9091 0000            lds r25,(SummeRoll)+1
 8029 4e00 A091 0000            lds r26,(SummeRoll)+2
 8030 4e04 B091 0000            lds r27,(SummeRoll)+3
 8031 4e08 8150                 subi r24,lo8(64001)
 8032 4e0a 9A4F                 sbci r25,hi8(64001)
 8033 4e0c A040                 sbci r26,hlo8(64001)
 8034 4e0e B040                 sbci r27,hhi8(64001)
 8035 4e10 04F0                 brlt .L871
 8036 4e12 80E0                 ldi r24,lo8(64000)
 8037 4e14 9AEF                 ldi r25,hi8(64000)
 8038 4e16 A0E0                 ldi r26,hlo8(64000)
 8039 4e18 B0E0                 ldi r27,hhi8(64000)
 8040 4e1a 8093 0000            sts SummeRoll,r24
 8041 4e1e 9093 0000            sts (SummeRoll)+1,r25
 8042 4e22 A093 0000            sts (SummeRoll)+2,r26
 8043 4e26 B093 0000            sts (SummeRoll)+3,r27
 8044                   .L871:
 8045 4e2a 8091 0000            lds r24,SummeRoll
 8046 4e2e 9091 0000            lds r25,(SummeRoll)+1
 8047 4e32 A091 0000            lds r26,(SummeRoll)+2
 8048 4e36 B091 0000            lds r27,(SummeRoll)+3
 8049 4e3a 8050                 subi r24,lo8(-64000)
 8050 4e3c 9640                 sbci r25,hi8(-64000)
 8051 4e3e AF4F                 sbci r26,hlo8(-64000)
 8052 4e40 BF4F                 sbci r27,hhi8(-64000)
 8053 4e42 04F4                 brge .L873
 8054 4e44 80E0                 ldi r24,lo8(-64000)
 8055 4e46 96E0                 ldi r25,hi8(-64000)
 8056 4e48 AFEF                 ldi r26,hlo8(-64000)
 8057 4e4a BFEF                 ldi r27,hhi8(-64000)
 8058 4e4c 8093 0000            sts SummeRoll,r24
 8059 4e50 9093 0000            sts (SummeRoll)+1,r25
 8060 4e54 A093 0000            sts (SummeRoll)+2,r26
 8061 4e58 B093 0000            sts (SummeRoll)+3,r27
 8062                   .L873:
 8063 4e5c 38E0                 ldi r19,lo8(8)
 8064 4e5e 3D15                 cp r19,r13
 8065 4e60 00F0                 brlo .L875
 8066 4e62 8D2D                 mov r24,r13
 8067 4e64 90E0                 ldi r25,lo8(0)
 8068 4e66 AC01                 movw r20,r24
 8069 4e68 469F                 mul r20,r22
 8070 4e6a C001                 movw r24,r0
 8071 4e6c 479F                 mul r20,r23
 8072 4e6e 900D                 add r25,r0
 8073 4e70 569F                 mul r21,r22
 8074 4e72 900D                 add r25,r0
 8075 4e74 1124                 clr r1
 8076 4e76 68E0                 ldi r22,lo8(8)
 8077 4e78 70E0                 ldi r23,hi8(8)
 8078 4e7a 00C0                 rjmp .L936
 8079                   .L875:
 8080 4e7c D694                 lsr r13
 8081 4e7e 8D2D                 mov r24,r13
 8082 4e80 90E0                 ldi r25,lo8(0)
 8083 4e82 DC01                 movw r26,r24
 8084 4e84 A69F                 mul r26,r22
 8085 4e86 C001                 movw r24,r0
 8086 4e88 A79F                 mul r26,r23
 8087 4e8a 900D                 add r25,r0
 8088 4e8c B69F                 mul r27,r22
 8089 4e8e 900D                 add r25,r0
 8090 4e90 1124                 clr r1
 8091 4e92 64E0                 ldi r22,lo8(4)
 8092 4e94 70E0                 ldi r23,hi8(4)
 8093                   .L936:
 8094 4e96 0E94 0000            call __divmodhi4
 8095 4e9a 6B01                 movw r12,r22
 8096 4e9c 6091 0000            lds r22,SummeRoll
 8097 4ea0 7091 0000            lds r23,(SummeRoll)+1
 8098 4ea4 8091 0000            lds r24,(SummeRoll)+2
 8099 4ea8 9091 0000            lds r25,(SummeRoll)+3
 8100 4eac A201                 movw r20,r4
 8101 4eae 9101                 movw r18,r2
 8102 4eb0 0E94 0000            call __divmodsi4
 8103 4eb4 B601                 movw r22,r12
 8104 4eb6 620F                 add r22,r18
 8105 4eb8 731F                 adc r23,r19
 8106 4eba E616                 cp r14,r22
 8107 4ebc F706                 cpc r15,r23
 8108 4ebe 04F4                 brge .L878
 8109 4ec0 B701                 movw r22,r14
 8110                   .L878:
 8111 4ec2 7B01                 movw r14,r22
 8112 4ec4 6017                 cp r22,r16
 8113 4ec6 7107                 cpc r23,r17
 8114 4ec8 04F4                 brge .L879
 8115 4eca 7801                 movw r14,r16
 8116                   .L879:
 8117 4ecc 00E0                 ldi r16,lo8(Mixer+13)
 8118 4ece 10E0                 ldi r17,hi8(Mixer+13)
 8119 4ed0 40E0                 ldi r20,lo8(Motor+1)
 8120 4ed2 C42E                 mov r12,r20
 8121 4ed4 40E0                 ldi r20,hi8(Motor+1)
 8122 4ed6 D42E                 mov r13,r20
 8123 4ed8 30E0                 ldi r19,lo8(tmp_motorwert)
 8124 4eda 432E                 mov r4,r19
 8125 4edc 30E0                 ldi r19,hi8(tmp_motorwert)
 8126 4ede 532E                 mov r5,r19
 8127 4ee0 9401                 movw r18,r8
 8128 4ee2 4427                 clr r20
 8129 4ee4 37FD                 sbrc r19,7
 8130 4ee6 4095                 com r20
 8131 4ee8 542F                 mov r21,r20
 8132 4eea 2BA3                 std Y+35,r18
 8133 4eec 3CA3                 std Y+36,r19
 8134 4eee 4DA3                 std Y+37,r20
 8135 4ef0 5EA3                 std Y+38,r21
 8136 4ef2 A701                 movw r20,r14
 8137 4ef4 6627                 clr r22
 8138 4ef6 57FD                 sbrc r21,7
 8139 4ef8 6095                 com r22
 8140 4efa 762F                 mov r23,r22
 8141 4efc 4FA3                 std Y+39,r20
 8142 4efe 58A7                 std Y+40,r21
 8143 4f00 69A7                 std Y+41,r22
 8144 4f02 7AA7                 std Y+42,r23
 8145 4f04 6E85                 ldd r22,Y+14
 8146 4f06 7F85                 ldd r23,Y+15
 8147 4f08 8827                 clr r24
 8148 4f0a 77FD                 sbrc r23,7
 8149 4f0c 8095                 com r24
 8150 4f0e 982F                 mov r25,r24
 8151 4f10 6BA7                 std Y+43,r22
 8152 4f12 7CA7                 std Y+44,r23
 8153 4f14 8DA7                 std Y+45,r24
 8154 4f16 9EA7                 std Y+46,r25
 8155 4f18 C501                 movw r24,r10
 8156 4f1a AA27                 clr r26
 8157 4f1c 97FD                 sbrc r25,7
 8158 4f1e A095                 com r26
 8159 4f20 BA2F                 mov r27,r26
 8160 4f22 8FA7                 std Y+47,r24
 8161 4f24 98AB                 std Y+48,r25
 8162 4f26 A9AB                 std Y+49,r26
 8163 4f28 BAAB                 std Y+50,r27
 8164                   .L880:
 8165 4f2a D801                 movw r26,r16
 8166 4f2c 2C91                 ld r18,X
 8167 4f2e 1216                 cp __zero_reg__,r18
 8168 4f30 04F0                 brlt .+2
 8169 4f32 00C0                 rjmp .L881
 8170 4f34 2034                 cpi r18,lo8(64)
 8171 4f36 01F4                 brne .L883
 8172 4f38 1501                 movw r2,r10
 8173 4f3a 00C0                 rjmp .L885
 8174                   .L883:
 8175 4f3c 3327                 clr r19
 8176 4f3e 27FD                 sbrc r18,7
 8177 4f40 3095                 com r19
 8178 4f42 432F                 mov r20,r19
 8179 4f44 532F                 mov r21,r19
 8180 4f46 6FA5                 ldd r22,Y+47
 8181 4f48 78A9                 ldd r23,Y+48
 8182 4f4a 89A9                 ldd r24,Y+49
 8183 4f4c 9AA9                 ldd r25,Y+50
 8184 4f4e 0E94 0000            call __mulsi3
 8185 4f52 20E4                 ldi r18,lo8(64)
 8186 4f54 30E0                 ldi r19,hi8(64)
 8187 4f56 40E0                 ldi r20,hlo8(64)
 8188 4f58 50E0                 ldi r21,hhi8(64)
 8189 4f5a 0E94 0000            call __divmodsi4
 8190 4f5e 1901                 movw r2,r18
 8191                   .L885:
 8192 4f60 F801                 movw r30,r16
 8193 4f62 2181                 ldd r18,Z+1
 8194 4f64 2034                 cpi r18,lo8(64)
 8195 4f66 01F4                 brne .L886
 8196 4f68 2E85                 ldd r18,Y+14
 8197 4f6a 3F85                 ldd r19,Y+15
 8198 4f6c 00C0                 rjmp .L937
 8199                   .L886:
 8200 4f6e 203C                 cpi r18,lo8(-64)
 8201 4f70 01F4                 brne .L889
 8202 4f72 4E85                 ldd r20,Y+14
 8203 4f74 5F85                 ldd r21,Y+15
 8204 4f76 241A                 sub r2,r20
 8205 4f78 350A                 sbc r3,r21
 8206 4f7a 00C0                 rjmp .L888
 8207                   .L889:
 8208 4f7c 3327                 clr r19
 8209 4f7e 27FD                 sbrc r18,7
 8210 4f80 3095                 com r19
 8211 4f82 432F                 mov r20,r19
 8212 4f84 532F                 mov r21,r19
 8213 4f86 6BA5                 ldd r22,Y+43
 8214 4f88 7CA5                 ldd r23,Y+44
 8215 4f8a 8DA5                 ldd r24,Y+45
 8216 4f8c 9EA5                 ldd r25,Y+46
 8217 4f8e 0E94 0000            call __mulsi3
 8218 4f92 20E4                 ldi r18,lo8(64)
 8219 4f94 30E0                 ldi r19,hi8(64)
 8220 4f96 40E0                 ldi r20,hlo8(64)
 8221 4f98 50E0                 ldi r21,hhi8(64)
 8222 4f9a 0E94 0000            call __divmodsi4
 8223                   .L937:
 8224 4f9e 220E                 add r2,r18
 8225 4fa0 331E                 adc r3,r19
 8226                   .L888:
 8227 4fa2 F801                 movw r30,r16
 8228 4fa4 2281                 ldd r18,Z+2
 8229 4fa6 2034                 cpi r18,lo8(64)
 8230 4fa8 01F4                 brne .L891
 8231 4faa 2E0C                 add r2,r14
 8232 4fac 3F1C                 adc r3,r15
 8233 4fae 00C0                 rjmp .L893
 8234                   .L891:
 8235 4fb0 203C                 cpi r18,lo8(-64)
 8236 4fb2 01F4                 brne .L894
 8237 4fb4 2E18                 sub r2,r14
 8238 4fb6 3F08                 sbc r3,r15
 8239 4fb8 00C0                 rjmp .L893
 8240                   .L894:
 8241 4fba 3327                 clr r19
 8242 4fbc 27FD                 sbrc r18,7
 8243 4fbe 3095                 com r19
 8244 4fc0 432F                 mov r20,r19
 8245 4fc2 532F                 mov r21,r19
 8246 4fc4 6FA1                 ldd r22,Y+39
 8247 4fc6 78A5                 ldd r23,Y+40
 8248 4fc8 89A5                 ldd r24,Y+41
 8249 4fca 9AA5                 ldd r25,Y+42
 8250 4fcc 0E94 0000            call __mulsi3
 8251 4fd0 20E4                 ldi r18,lo8(64)
 8252 4fd2 30E0                 ldi r19,hi8(64)
 8253 4fd4 40E0                 ldi r20,hlo8(64)
 8254 4fd6 50E0                 ldi r21,hhi8(64)
 8255 4fd8 0E94 0000            call __divmodsi4
 8256 4fdc 220E                 add r2,r18
 8257 4fde 331E                 adc r3,r19
 8258                   .L893:
 8259 4fe0 F801                 movw r30,r16
 8260 4fe2 2381                 ldd r18,Z+3
 8261 4fe4 2034                 cpi r18,lo8(64)
 8262 4fe6 01F4                 brne .L896
 8263 4fe8 9101                 movw r18,r2
 8264 4fea 280D                 add r18,r8
 8265 4fec 391D                 adc r19,r9
 8266 4fee 00C0                 rjmp .L898
 8267                   .L896:
 8268 4ff0 203C                 cpi r18,lo8(-64)
 8269 4ff2 01F4                 brne .L899
 8270 4ff4 9101                 movw r18,r2
 8271 4ff6 2819                 sub r18,r8
 8272 4ff8 3909                 sbc r19,r9
 8273 4ffa 00C0                 rjmp .L898
 8274                   .L899:
 8275 4ffc 3327                 clr r19
 8276 4ffe 27FD                 sbrc r18,7
 8277 5000 3095                 com r19
 8278 5002 432F                 mov r20,r19
 8279 5004 532F                 mov r21,r19
 8280 5006 6BA1                 ldd r22,Y+35
 8281 5008 7CA1                 ldd r23,Y+36
 8282 500a 8DA1                 ldd r24,Y+37
 8283 500c 9EA1                 ldd r25,Y+38
 8284 500e 0E94 0000            call __mulsi3
 8285 5012 20E4                 ldi r18,lo8(64)
 8286 5014 30E0                 ldi r19,hi8(64)
 8287 5016 40E0                 ldi r20,hlo8(64)
 8288 5018 50E0                 ldi r21,hhi8(64)
 8289 501a 0E94 0000            call __divmodsi4
 8290 501e 220D                 add r18,r2
 8291 5020 331D                 adc r19,r3
 8292                   .L898:
 8293 5022 D201                 movw r26,r4
 8294 5024 ED91                 ld r30,X+
 8295 5026 FC91                 ld r31,X
 8296 5028 E217                 cp r30,r18
 8297 502a F307                 cpc r31,r19
 8298 502c 04F4                 brge .L901
 8299 502e C901                 movw r24,r18
 8300 5030 8E0F                 add r24,r30
 8301 5032 9F1F                 adc r25,r31
 8302 5034 62E0                 ldi r22,lo8(2)
 8303 5036 70E0                 ldi r23,hi8(2)
 8304 5038 0E94 0000            call __divmodhi4
 8305 503c 00C0                 rjmp .L903
 8306                   .L901:
 8307 503e B901                 movw r22,r18
 8308 5040 660F                 lsl r22
 8309 5042 771F                 rol r23
 8310 5044 6E1B                 sub r22,r30
 8311 5046 7F0B                 sbc r23,r31
 8312                   .L903:
 8313 5048 EC85                 ldd r30,Y+12
 8314 504a FD85                 ldd r31,Y+13
 8315 504c E617                 cp r30,r22
 8316 504e F707                 cpc r31,r23
 8317 5050 04F0                 brlt .L904
 8318 5052 9F01                 movw r18,r30
 8319 5054 00C0                 rjmp .L906
 8320                   .L904:
 8321 5056 9B01                 movw r18,r22
 8322 5058 6616                 cp r6,r22
 8323 505a 7706                 cpc r7,r23
 8324 505c 04F4                 brge .L906
 8325 505e 9301                 movw r18,r6
 8326                   .L906:
 8327 5060 C901                 movw r24,r18
 8328 5062 64E0                 ldi r22,lo8(4)
 8329 5064 70E0                 ldi r23,hi8(4)
 8330 5066 0E94 0000            call __divmodhi4
 8331 506a D601                 movw r26,r12
 8332 506c 6C93                 st X,r22
 8333 506e C901                 movw r24,r18
 8334 5070 64E0                 ldi r22,lo8(4)
 8335 5072 70E0                 ldi r23,hi8(4)
 8336 5074 0E94 0000            call __divmodhi4
 8337 5078 880F                 lsl r24
 8338 507a F601                 movw r30,r12
 8339 507c 8183                 std Z+1,r24
 8340 507e D201                 movw r26,r4
 8341 5080 2D93                 st X+,r18
 8342 5082 3C93                 st X,r19
 8343 5084 00C0                 rjmp .L908
 8344                   .L881:
 8345 5086 F601                 movw r30,r12
 8346 5088 1082                 st Z,__zero_reg__
 8347 508a 1182                 std Z+1,__zero_reg__
 8348                   .L908:
 8349 508c 0C5F                 subi r16,lo8(-(4))
 8350 508e 1F4F                 sbci r17,hi8(-(4))
 8351 5090 28E0                 ldi r18,lo8(8)
 8352 5092 30E0                 ldi r19,hi8(8)
 8353 5094 C20E                 add r12,r18
 8354 5096 D31E                 adc r13,r19
 8355 5098 42E0                 ldi r20,lo8(2)
 8356 509a 50E0                 ldi r21,hi8(2)
 8357 509c 440E                 add r4,r20
 8358 509e 551E                 adc r5,r21
 8359 50a0 50E0                 ldi r21,hi8(Mixer+61)
 8360 50a2 0030                 cpi r16,lo8(Mixer+61)
 8361 50a4 1507                 cpc r17,r21
 8362 50a6 01F0                 breq .L912
 8363 50a8 00C0                 rjmp .L880
 8364                   .L651:
 8365 50aa 0894                 sec
 8366 50ac E108                 sbc r14,__zero_reg__
 8367 50ae F108                 sbc r15,__zero_reg__
 8368 50b0 F092 0000            sts (KompassSignalSchlecht)+1,r15
 8369 50b4 E092 0000            sts KompassSignalSchlecht,r14
 8370 50b8 0C94 0000            jmp .L639
 8371                   .L912:
 8372                   /* epilogue: frame size=52 */
 8373 50bc E2E1                 ldi r30,18
 8374 50be CC5C                 subi r28,-52
 8375 50c0 0C94 0000            jmp __epilogue_restores__+0
 8376                   /* epilogue end (size=4) */
 8377                   /* function MotorRegler size 6872 (6862) */
 8379                   .global BaroExpandActive
 8380                   .global BaroExpandActive
 8381                           .section .bss
 8384                   BaroExpandActive:
 8385 0000 0000                 .skip 2,0
 8386                   .global AdNeutralNick
 8387                   .global AdNeutralNick
 8390                   AdNeutralNick:
 8391 0002 0000                 .skip 2,0
 8392                   .global AdNeutralRoll
 8393                   .global AdNeutralRoll
 8396                   AdNeutralRoll:
 8397 0004 0000                 .skip 2,0
 8398                   .global AdNeutralGier
 8399                   .global AdNeutralGier
 8402                   AdNeutralGier:
 8403 0006 0000                 .skip 2,0
 8404                   .global StartNeutralRoll
 8405                   .global StartNeutralRoll
 8408                   StartNeutralRoll:
 8409 0008 0000                 .skip 2,0
 8410                   .global StartNeutralNick
 8411                   .global StartNeutralNick
 8414                   StartNeutralNick:
 8415 000a 0000                 .skip 2,0
 8416                   .global NeutralAccX
 8417                   .global NeutralAccX
 8420                   NeutralAccX:
 8421 000c 0000                 .skip 2,0
 8422                   .global NeutralAccY
 8423                   .global NeutralAccY
 8426                   NeutralAccY:
 8427 000e 0000                 .skip 2,0
 8428                   .global NaviCntAcc
 8429                   .global NaviCntAcc
 8432                   NaviCntAcc:
 8433 0010 0000                 .skip 2,0
 8434                   .global NeutralAccZ
 8435                   .global NeutralAccZ
 8438                   NeutralAccZ:
 8439 0012 0000                 .skip 2,0
 8440                   .global ControlHeading
 8441                   .global ControlHeading
 8444                   ControlHeading:
 8445 0014 00                   .skip 1,0
 8446                   .global IntegralNick
 8447                   .global IntegralNick
 8450                   IntegralNick:
 8451 0015 0000 0000            .skip 4,0
 8452                   .global IntegralNick2
 8453                   .global IntegralNick2
 8456                   IntegralNick2:
 8457 0019 0000 0000            .skip 4,0
 8458                   .global IntegralRoll
 8459                   .global IntegralRoll
 8462                   IntegralRoll:
 8463 001d 0000 0000            .skip 4,0
 8464                   .global IntegralRoll2
 8465                   .global IntegralRoll2
 8468                   IntegralRoll2:
 8469 0021 0000 0000            .skip 4,0
 8470                   .global IntegralAccNick
 8471                   .global IntegralAccNick
 8474                   IntegralAccNick:
 8475 0025 0000 0000            .skip 4,0
 8476                   .global IntegralAccRoll
 8477                   .global IntegralAccRoll
 8480                   IntegralAccRoll:
 8481 0029 0000 0000            .skip 4,0
 8482                   .global IntegralAccZ
 8483                   .global IntegralAccZ
 8486                   IntegralAccZ:
 8487 002d 0000 0000            .skip 4,0
 8488                   .global Integral_Gier
 8489                   .global Integral_Gier
 8492                   Integral_Gier:
 8493 0031 0000 0000            .skip 4,0
 8494                   .global Mess_IntegralNick
 8495                   .global Mess_IntegralNick
 8498                   Mess_IntegralNick:
 8499 0035 0000 0000            .skip 4,0
 8500                   .global Mess_IntegralNick2
 8501                   .global Mess_IntegralNick2
 8504                   Mess_IntegralNick2:
 8505 0039 0000 0000            .skip 4,0
 8506                   .global Mess_IntegralRoll
 8507                   .global Mess_IntegralRoll
 8510                   Mess_IntegralRoll:
 8511 003d 0000 0000            .skip 4,0
 8512                   .global Mess_IntegralRoll2
 8513                   .global Mess_IntegralRoll2
 8516                   Mess_IntegralRoll2:
 8517 0041 0000 0000            .skip 4,0
 8518                   .global Mess_Integral_Gier
 8519                   .global Mess_Integral_Gier
 8522                   Mess_Integral_Gier:
 8523 0045 0000 0000            .skip 4,0
 8524                   .global Mess_Integral_Gier2
 8525                   .global Mess_Integral_Gier2
 8528                   Mess_Integral_Gier2:
 8529 0049 0000 0000            .skip 4,0
 8530                   .global SummeNick
 8531                   .global SummeNick
 8534                   SummeNick:
 8535 004d 0000 0000            .skip 4,0
 8536                   .global SummeRoll
 8537                   .global SummeRoll
 8540                   SummeRoll:
 8541 0051 0000 0000            .skip 4,0
 8542                   .global Mess_Integral_Hoch
 8543                   .global Mess_Integral_Hoch
 8546                   Mess_Integral_Hoch:
 8547 0055 0000 0000            .skip 4,0
 8548                   .global KompassValue
 8549                   .global KompassValue
 8552                   KompassValue:
 8553 0059 0000                 .skip 2,0
 8554                   .global KompassStartwert
 8555                   .global KompassStartwert
 8558                   KompassStartwert:
 8559 005b 0000                 .skip 2,0
 8560                   .global KompassRichtung
 8561                   .global KompassRichtung
 8564                   KompassRichtung:
 8565 005d 0000                 .skip 2,0
 8566                   .global KompassSignalSchlecht
 8567                           .data
 8570                   KompassSignalSchlecht:
 8571 0000 F401                 .word   500
 8572                   .global HoehenReglerAktiv
 8573                   .global HoehenReglerAktiv
 8574                           .section .bss
 8577                   HoehenReglerAktiv:
 8578 005f 00                   .skip 1,0
 8579                   .global TrichterFlug
 8580                   .global TrichterFlug
 8583                   TrichterFlug:
 8584 0060 00                   .skip 1,0
 8585                   .global Umschlag180Nick
 8586                           .data
 8589                   Umschlag180Nick:
 8590 0002 90                   .byte   -112
 8591 0003 D0                   .byte   -48
 8592 0004 03                   .byte   3
 8593 0005 00                   .byte   0
 8594                   .global Umschlag180Roll
 8597                   Umschlag180Roll:
 8598 0006 90                   .byte   -112
 8599 0007 D0                   .byte   -48
 8600 0008 03                   .byte   3
 8601 0009 00                   .byte   0
 8602                   .global GierGyroFehler
 8603                   .global GierGyroFehler
 8604                           .section .bss
 8607                   GierGyroFehler:
 8608 0061 0000                 .skip 2,0
 8609                   .global Poti
 8610                   .global Poti
 8613                   Poti:
 8614 0063 0000 0000            .skip 9,0
 8614      0000 0000 
 8614      00
 8615                   .global SenderOkay
 8616                   .global SenderOkay
 8619                   SenderOkay:
 8620 006c 00                   .skip 1,0
 8621                   .global StickNick
 8622                   .global StickNick
 8625                   StickNick:
 8626 006d 0000                 .skip 2,0
 8627                   .global StickRoll
 8628                   .global StickRoll
 8631                   StickRoll:
 8632 006f 0000                 .skip 2,0
 8633                   .global StickGier
 8634                   .global StickGier
 8637                   StickGier:
 8638 0071 0000                 .skip 2,0
 8639                   .global StickGas
 8640                   .global StickGas
 8643                   StickGas:
 8644 0073 0000                 .skip 2,0
 8645                   .global MotorenEin
 8646                   .global MotorenEin
 8649                   MotorenEin:
 8650 0075 00                   .skip 1,0
 8651                   .global StartTrigger
 8652                   .global StartTrigger
 8655                   StartTrigger:
 8656 0076 00                   .skip 1,0
 8657                   .global HoehenWert
 8658                   .global HoehenWert
 8661                   HoehenWert:
 8662 0077 0000 0000            .skip 4,0
 8663                   .global SollHoehe
 8664                   .global SollHoehe
 8667                   SollHoehe:
 8668 007b 0000 0000            .skip 4,0
 8669                   .global LageKorrekturRoll
 8670                   .global LageKorrekturRoll
 8673                   LageKorrekturRoll:
 8674 007f 0000                 .skip 2,0
 8675                   .global LageKorrekturNick
 8676                   .global LageKorrekturNick
 8679                   LageKorrekturNick:
 8680 0081 0000                 .skip 2,0
 8681                   .global HoverGas
 8682                   .global HoverGas
 8685                   HoverGas:
 8686 0083 0000                 .skip 2,0
 8687                   .global Ki
 8688                           .data
 8691                   Ki:
 8692 000a 3801                 .word   312
 8693                   .global Looping_Nick
 8694                   .global Looping_Nick
 8695                           .section .bss
 8698                   Looping_Nick:
 8699 0085 00                   .skip 1,0
 8700                   .global Looping_Roll
 8701                   .global Looping_Roll
 8704                   Looping_Roll:
 8705 0086 00                   .skip 1,0
 8706                   .global Looping_Links
 8707                   .global Looping_Links
 8710                   Looping_Links:
 8711 0087 00                   .skip 1,0
 8712                   .global Looping_Rechts
 8713                   .global Looping_Rechts
 8716                   Looping_Rechts:
 8717 0088 00                   .skip 1,0
 8718                   .global Looping_Unten
 8719                   .global Looping_Unten
 8722                   Looping_Unten:
 8723 0089 00                   .skip 1,0
 8724                   .global Looping_Oben
 8725                   .global Looping_Oben
 8728                   Looping_Oben:
 8729 008a 00                   .skip 1,0
 8730                   .global Parameter_Luftdruck_D
 8731                           .data
 8734                   Parameter_Luftdruck_D:
 8735 000c 30                   .byte   48
 8736                   .global Parameter_MaxHoehe
 8739                   Parameter_MaxHoehe:
 8740 000d FB                   .byte   -5
 8741                   .global Parameter_Hoehe_P
 8744                   Parameter_Hoehe_P:
 8745 000e 10                   .byte   16
 8746                   .global Parameter_Hoehe_ACC_Wirkung
 8749                   Parameter_Hoehe_ACC_Wirkung:
 8750 000f 3A                   .byte   58
 8751                   .global Parameter_KompassWirkung
 8754                   Parameter_KompassWirkung:
 8755 0010 40                   .byte   64
 8756                   .global Parameter_Hoehe_GPS_Z
 8759                   Parameter_Hoehe_GPS_Z:
 8760 0011 40                   .byte   64
 8761                   .global Parameter_Gyro_D
 8764                   Parameter_Gyro_D:
 8765 0012 08                   .byte   8
 8766                   .global Parameter_Gyro_P
 8769                   Parameter_Gyro_P:
 8770 0013 96                   .byte   -106
 8771                   .global Parameter_Gyro_I
 8774                   Parameter_Gyro_I:
 8775 0014 96                   .byte   -106
 8776                   .global Parameter_Gyro_Gier_P
 8779                   Parameter_Gyro_Gier_P:
 8780 0015 96                   .byte   -106
 8781                   .global Parameter_Gyro_Gier_I
 8784                   Parameter_Gyro_Gier_I:
 8785 0016 96                   .byte   -106
 8786                   .global Parameter_Gier_P
 8789                   Parameter_Gier_P:
 8790 0017 02                   .byte   2
 8791                   .global Parameter_I_Faktor
 8794                   Parameter_I_Faktor:
 8795 0018 0A                   .byte   10
 8796                   .global Parameter_UserParam1
 8797                   .global Parameter_UserParam1
 8798                           .section .bss
 8801                   Parameter_UserParam1:
 8802 008b 00                   .skip 1,0
 8803                   .global Parameter_UserParam2
 8804                   .global Parameter_UserParam2
 8807                   Parameter_UserParam2:
 8808 008c 00                   .skip 1,0
 8809                   .global Parameter_UserParam3
 8810                   .global Parameter_UserParam3
 8813                   Parameter_UserParam3:
 8814 008d 00                   .skip 1,0
 8815                   .global Parameter_UserParam4
 8816                   .global Parameter_UserParam4
 8819                   Parameter_UserParam4:
 8820 008e 00                   .skip 1,0
 8821                   .global Parameter_UserParam5
 8822                   .global Parameter_UserParam5
 8825                   Parameter_UserParam5:
 8826 008f 00                   .skip 1,0
 8827                   .global Parameter_UserParam6
 8828                   .global Parameter_UserParam6
 8831                   Parameter_UserParam6:
 8832 0090 00                   .skip 1,0
 8833                   .global Parameter_UserParam7
 8834                   .global Parameter_UserParam7
 8837                   Parameter_UserParam7:
 8838 0091 00                   .skip 1,0
 8839                   .global Parameter_UserParam8
 8840                   .global Parameter_UserParam8
 8843                   Parameter_UserParam8:
 8844 0092 00                   .skip 1,0
 8845                   .global Parameter_ServoNickControl
 8846                           .data
 8849                   Parameter_ServoNickControl:
 8850 0019 64                   .byte   100
 8851                   .global Parameter_ServoRollControl
 8854                   Parameter_ServoRollControl:
 8855 001a 64                   .byte   100
 8856                   .global Parameter_LoopGasLimit
 8859                   Parameter_LoopGasLimit:
 8860 001b 46                   .byte   70
 8861                   .global Parameter_AchsKopplung1
 8864                   Parameter_AchsKopplung1:
 8865 001c 5A                   .byte   90
 8866                   .global Parameter_AchsKopplung2
 8869                   Parameter_AchsKopplung2:
 8870 001d 41                   .byte   65
 8871                   .global Parameter_CouplingYawCorrection
 8874                   Parameter_CouplingYawCorrection:
 8875 001e 40                   .byte   64
 8876                   .global Parameter_DynamicStability
 8879                   Parameter_DynamicStability:
 8880 001f 64                   .byte   100
 8881                   .global CareFree
 8882                   .global CareFree
 8883                           .section .bss
 8886                   CareFree:
 8887 0093 00                   .skip 1,0
 8888                   .global sintab
 8889                           .data
 8892                   sintab:
 8893 0020 00                   .byte   0
 8894 0021 02                   .byte   2
 8895 0022 04                   .byte   4
 8896 0023 06                   .byte   6
 8897 0024 07                   .byte   7
 8898 0025 08                   .byte   8
 8899 0026 08                   .byte   8
 8900 0027 08                   .byte   8
 8901 0028 07                   .byte   7
 8902 0029 06                   .byte   6
 8903 002a 04                   .byte   4
 8904 002b 02                   .byte   2
 8905 002c 00                   .byte   0
 8906 002d FE                   .byte   -2
 8907 002e FC                   .byte   -4
 8908 002f FA                   .byte   -6
 8909 0030 F9                   .byte   -7
 8910 0031 F8                   .byte   -8
 8911 0032 F8                   .byte   -8
 8912 0033 F8                   .byte   -8
 8913 0034 F9                   .byte   -7
 8914 0035 FA                   .byte   -6
 8915 0036 FC                   .byte   -4
 8916 0037 FE                   .byte   -2
 8917 0038 00                   .byte   0
 8918 0039 02                   .byte   2
 8919 003a 04                   .byte   4
 8920 003b 06                   .byte   6
 8921 003c 07                   .byte   7
 8922 003d 08                   .byte   8
 8923 003e 08                   .byte   8
 8924                   .global ExternStickNick
 8925                   .global ExternStickNick
 8926                           .section .bss
 8929                   ExternStickNick:
 8930 0094 0000                 .skip 2,0
 8931                   .global ExternStickRoll
 8932                   .global ExternStickRoll
 8935                   ExternStickRoll:
 8936 0096 0000                 .skip 2,0
 8937                   .global ExternStickGier
 8938                   .global ExternStickGier
 8941                   ExternStickGier:
 8942 0098 0000                 .skip 2,0
 8943                   .global ExternHoehenValue
 8944                           .data
 8947                   ExternHoehenValue:
 8948 003f ECFF                 .word   -20
 8949                   .global MaxStickNick
 8950                   .global MaxStickNick
 8951                           .section .bss
 8954                   MaxStickNick:
 8955 009a 0000                 .skip 2,0
 8956                   .global MaxStickRoll
 8957                   .global MaxStickRoll
 8960                   MaxStickRoll:
 8961 009c 0000                 .skip 2,0
 8962                   .global modell_fliegt
 8963                   .global modell_fliegt
 8966                   modell_fliegt:
 8967 009e 0000                 .skip 2,0
 8968                   .global FC_StatusFlags
 8969                   .global FC_StatusFlags
 8972                   FC_StatusFlags:
 8973 00a0 00                   .skip 1,0
 8974                   .global GIER_GRAD_FAKTOR
 8975                           .data
 8978                   GIER_GRAD_FAKTOR:
 8979 0041 0B                   .byte   11
 8980 0042 05                   .byte   5
 8981 0043 00                   .byte   0
 8982 0044 00                   .byte   0
 8983                   .global VarioCharacter
 8986                   VarioCharacter:
 8987 0045 20                   .byte   32
 8988                           .lcomm BaroAtLowerLimit.3353,1
 8989                           .lcomm BaroAtUpperLimit.3352,1
 8992                   delay.3351:
 8993 0046 64                   .byte   100
 8994                           .lcomm HoverGasFilter.3350,4
 8997                   HoverGasMax.3349:
 8998 0047 FF03                 .word   1023
 8999                           .lcomm HoverGasMin.3348,2
 9002                   StickGasHover.3347:
 9003 0049 7800                 .word   120
 9004                           .lcomm FilterHCGas.3346,2
 9005                           .lcomm HeightTrimming.3345,2
 9006                           .lcomm MittelIntegralRoll_Alt.3336,4
 9007                           .lcomm MittelIntegralNick_Alt.3335,4
 9008                           .lcomm last_r_n.3334,1
 9009                           .lcomm last_r_p.3333,1
 9010                           .lcomm last_n_n.3332,1
 9011                           .lcomm last_n_p.3331,1
 9012                           .lcomm cnt.3330,2
 9013                           .lcomm stick_roll.3325,2
 9014                           .lcomm stick_nick.3324,2
 9015                           .lcomm ausgleichRoll.3319,4
 9016                           .lcomm ausgleichNick.3318,4
 9017                           .lcomm NeueKompassRichtungMerken.3317,1
 9018                           .lcomm calibration_done.3316,1
 9019                           .lcomm delay_ausschalten.3315,1
 9020                           .lcomm delay_einschalten.3314,1
 9021                           .lcomm delay_neutral.3313,1
 9022                           .lcomm RcLostTimer.3312,2
 9023                           .lcomm IntegralFehlerRoll.3311,4
 9024                           .lcomm IntegralFehlerNick.3310,4
 9025                           .lcomm tmp_long2.3309,4
 9026                           .lcomm tmp_long.3308,4
 9027                           .lcomm sollGier.3307,4
 9028                           .lcomm d2Nick.2875,2
 9029                           .lcomm d2Roll.2874,2
 9030                           .lcomm oldRoll.2873,2
 9031                           .lcomm oldNick.2872,2
 9032                           .lcomm tmpl4.2871,4
 9033                           .lcomm tmpl3.2870,4
 9034                           .lcomm tmpl2.2869,4
 9035                           .lcomm tmpl.2868,4
 9036                           .section        .progmem.data,"a",@progbits
 9039                   __c.2753:
 9040 0000 0A0D 4143            .string "\n\rACC not calibrated!\r\n"
 9040      4320 6E6F 
 9040      7420 6361 
 9040      6C69 6272 
 9040      6174 6564 
 9041                           .comm TrimNick,2,1
 9042                           .comm TrimRoll,2,1
 9043                           .comm ErsatzKompass,4,1
 9044                           .comm ErsatzKompassInGrad,2,1
 9045                           .comm MesswertNick,2,1
 9046                           .comm MesswertRoll,2,1
 9047                           .comm MesswertGier,2,1
 9048                           .comm Mittelwert_AccNick,2,1
 9049                           .comm Mittelwert_AccRoll,2,1
 9050                           .comm NaviAccNick,2,1
 9051                           .comm NaviAccRoll,2,1
 9052                           .comm h,1,1
 9053                           .comm m,1,1
 9054                           .comm s,1,1
 9055                           .comm DiffNick,2,1
 9056                           .comm DiffRoll,2,1
 9057                           .comm Parameter_Servo3,1,1
 9058                           .comm Parameter_Servo4,1,1
 9059                           .comm Parameter_Servo5,1,1
 9060                           .comm Parameter_J16Bitmask,1,1
 9061                           .comm Parameter_J16Timing,1,1
 9062                           .comm Parameter_J17Bitmask,1,1
 9063                           .comm Parameter_J17Timing,1,1
 9064                           .comm MesswertGierBias,2,1
 9065                           .comm RohMesswertNick,2,1
 9066                           .comm RohMesswertRoll,2,1
 9067                           .comm MittelIntegralNick,4,1
 9068                           .comm MittelIntegralRoll,4,1
 9069                           .comm MittelIntegralNick2,4,1
 9070                           .comm MittelIntegralRoll2,4,1
 9071                           .comm MAX_GAS,1,1
 9072                           .comm MIN_GAS,1,1
 9073                           .comm GyroFaktor,1,1
 9074                           .comm GyroFaktorGier,1,1
 9075                           .comm IntegralFaktor,1,1
 9076                           .comm IntegralFaktorGier,1,1
 9077                           .comm Parameter_NaviGpsModeControl,1,1
 9078                           .comm Parameter_NaviGpsGain,1,1
 9079                           .comm Parameter_NaviGpsP,1,1
 9080                           .comm Parameter_NaviGpsI,1,1
 9081                           .comm Parameter_NaviGpsD,1,1
 9082                           .comm Parameter_NaviGpsACC,1,1
 9083                           .comm Parameter_NaviOperatingRadius,1,1
 9084                           .comm Parameter_NaviWindCorrection,1,1
 9085                           .comm Parameter_NaviSpeedCompensation,1,1
 9086                           .comm Parameter_ExternalControl,1,1
 9087                           .comm KopplungsteilNickRoll,2,1
 9088                           .comm KopplungsteilRollNick,2,1
 9089                           .comm tmp_motorwert,24,1
 9090                   /* File "fc.c": code 10444 = 0x28cc (10379), prologues  33, epilogues  32 */
DEFINED SYMBOLS
                            *ABS*:00000000 fc.c
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:2      *ABS*:0000003f __SREG__
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:3      *ABS*:0000003e __SP_H__
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:4      *ABS*:0000003d __SP_L__
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:5      *ABS*:00000000 __tmp_reg__
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:6      *ABS*:00000001 __zero_reg__
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:12     .text:00000000 CopyDebugValues
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8450   .bss:00000015 IntegralNick
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8462   .bss:0000001d IntegralRoll
                            *COM*:00000002 Mittelwert_AccNick
                            *COM*:00000002 Mittelwert_AccRoll
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8402   .bss:00000006 AdNeutralGier
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8661   .bss:00000077 HoehenWert
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8552   .bss:00000059 KompassValue
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8619   .bss:0000006c SenderOkay
                            *COM*:00000004 ErsatzKompass
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8978   .data:00000041 GIER_GRAD_FAKTOR
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:173    .text:000001fa Mittelwert
                            *COM*:00000002 MesswertGier
                            *COM*:00000002 RohMesswertNick
                            *COM*:00000002 RohMesswertRoll
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8474   .bss:00000025 IntegralAccNick
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8480   .bss:00000029 IntegralAccRoll
                            *COM*:00000002 NaviAccNick
                            *COM*:00000002 NaviAccRoll
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8432   .bss:00000010 NaviCntAcc
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8438   .bss:00000012 NeutralAccZ
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8486   .bss:0000002d IntegralAccZ
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8510   .bss:0000003d Mess_IntegralRoll
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8498   .bss:00000035 Mess_IntegralNick
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8522   .bss:00000045 Mess_Integral_Gier
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8698   .bss:00000085 Looping_Nick
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8704   .bss:00000086 Looping_Roll
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8869   .data:0000001d Parameter_AchsKopplung2
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9032   .bss:000000ee tmpl3.2870
                            *COM*:00000002 KopplungsteilNickRoll
                            *COM*:00000002 KopplungsteilRollNick
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9031   .bss:000000ea tmpl4.2871
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8874   .data:0000001e Parameter_CouplingYawCorrection
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8864   .data:0000001c Parameter_AchsKopplung1
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9034   .bss:000000f6 tmpl.2868
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9033   .bss:000000f2 tmpl2.2869
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8583   .bss:00000060 TrichterFlug
                            *COM*:00000002 TrimRoll
                            *COM*:00000002 TrimNick
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8516   .bss:00000041 Mess_IntegralRoll2
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8673   .bss:0000007f LageKorrekturRoll
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8597   .data:00000006 Umschlag180Roll
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8504   .bss:00000039 Mess_IntegralNick2
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8679   .bss:00000081 LageKorrekturNick
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8589   .data:00000002 Umschlag180Nick
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8492   .bss:00000031 Integral_Gier
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8456   .bss:00000019 IntegralNick2
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8468   .bss:00000021 IntegralRoll2
                            *COM*:00000002 MesswertNick
                            *COM*:00000002 MesswertRoll
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8764   .data:00000012 Parameter_Gyro_D
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9030   .bss:000000e8 oldNick.2872
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9027   .bss:000000e2 d2Nick.2875
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9029   .bss:000000e6 oldRoll.2873
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9028   .bss:000000e4 d2Roll.2874
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:1488   .text:00000f5a SendMotorData
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8649   .bss:00000075 MotorenEin
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8972   .bss:000000a0 FC_StatusFlags
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:1548   .text:00000fd4 ParameterZuordnung
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8613   .bss:00000063 Poti
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8734   .data:0000000c Parameter_Luftdruck_D
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8744   .data:0000000e Parameter_Hoehe_P
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8769   .data:00000013 Parameter_Gyro_P
                            *COM*:00000001 Parameter_J16Timing
                            *COM*:00000001 Parameter_J17Timing
                            *COM*:00000001 Parameter_Servo3
                            *COM*:00000001 Parameter_Servo4
                            *COM*:00000001 Parameter_Servo5
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8739   .data:0000000d Parameter_MaxHoehe
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8749   .data:0000000f Parameter_Hoehe_ACC_Wirkung
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8759   .data:00000011 Parameter_Hoehe_GPS_Z
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8754   .data:00000010 Parameter_KompassWirkung
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8774   .data:00000014 Parameter_Gyro_I
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8779   .data:00000015 Parameter_Gyro_Gier_P
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8784   .data:00000016 Parameter_Gyro_Gier_I
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8794   .data:00000018 Parameter_I_Faktor
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8801   .bss:0000008b Parameter_UserParam1
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8807   .bss:0000008c Parameter_UserParam2
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8813   .bss:0000008d Parameter_UserParam3
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8819   .bss:0000008e Parameter_UserParam4
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8825   .bss:0000008f Parameter_UserParam5
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8831   .bss:00000090 Parameter_UserParam6
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8837   .bss:00000091 Parameter_UserParam7
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8843   .bss:00000092 Parameter_UserParam8
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8849   .data:00000019 Parameter_ServoNickControl
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8854   .data:0000001a Parameter_ServoRollControl
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8859   .data:0000001b Parameter_LoopGasLimit
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8879   .data:0000001f Parameter_DynamicStability
                            *COM*:00000001 Parameter_ExternalControl
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8691   .data:0000000a Ki
                            *COM*:00000001 MAX_GAS
                            *COM*:00000001 MIN_GAS
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8886   .bss:00000093 CareFree
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:2164   .text:000014fa CalibrierMittelwert
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:2293   .text:00001624 SetNeutral
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8420   .bss:0000000c NeutralAccX
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8426   .bss:0000000e NeutralAccY
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8390   .bss:00000002 AdNeutralNick
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8396   .bss:00000004 AdNeutralRoll
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8408   .bss:00000008 StartNeutralRoll
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8414   .bss:0000000a StartNeutralNick
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9039   .progmem.data:00000000 __c.2753
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8546   .bss:00000055 Mess_Integral_Hoch
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8558   .bss:0000005b KompassStartwert
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8947   .data:0000003f ExternHoehenValue
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8607   .bss:00000061 GierGyroFehler
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:2778   .text:00001b5c Piep
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:2821   .text:00001ba4 MotorRegler
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8643   .bss:00000073 StickGas
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9021   .bss:000000cc RcLostTimer.3312
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8966   .bss:0000009e modell_fliegt
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8534   .bss:0000004d SummeNick
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8540   .bss:00000051 SummeRoll
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9026   .bss:000000de sollGier.3307
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9016   .bss:000000c7 NeueKompassRichtungMerken.3317
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9020   .bss:000000cb delay_neutral.3313
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9017   .bss:000000c8 calibration_done.3316
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9019   .bss:000000ca delay_einschalten.3314
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8528   .bss:00000049 Mess_Integral_Gier2
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8444   .bss:00000014 ControlHeading
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9018   .bss:000000c9 delay_ausschalten.3315
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9013   .bss:000000bd stick_nick.3324
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9012   .bss:000000bb stick_roll.3325
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8625   .bss:0000006d StickNick
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8892   .data:00000020 sintab
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8631   .bss:0000006f StickRoll
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8637   .bss:00000071 StickGier
                            *COM*:00000001 GyroFaktor
                            *COM*:00000001 IntegralFaktor
                            *COM*:00000001 GyroFaktorGier
                            *COM*:00000001 IntegralFaktorGier
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8954   .bss:0000009a MaxStickNick
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8960   .bss:0000009c MaxStickRoll
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8710   .bss:00000087 Looping_Links
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8716   .bss:00000088 Looping_Rechts
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8728   .bss:0000008a Looping_Oben
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8722   .bss:00000089 Looping_Unten
                            *COM*:00000004 MittelIntegralNick
                            *COM*:00000004 MittelIntegralRoll
                            *COM*:00000004 MittelIntegralNick2
                            *COM*:00000004 MittelIntegralRoll2
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9015   .bss:000000c3 ausgleichNick.3318
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9014   .bss:000000bf ausgleichRoll.3319
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9025   .bss:000000da tmp_long.3308
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9024   .bss:000000d6 tmp_long2.3309
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9023   .bss:000000d2 IntegralFehlerNick.3310
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9022   .bss:000000ce IntegralFehlerRoll.3311
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9011   .bss:000000b9 cnt.3330
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9006   .bss:000000b1 MittelIntegralNick_Alt.3335
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9010   .bss:000000b8 last_n_p.3331
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9009   .bss:000000b7 last_n_n.3332
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8570   .data:00000000 KompassSignalSchlecht
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9005   .bss:000000ad MittelIntegralRoll_Alt.3336
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9008   .bss:000000b6 last_r_p.3333
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9007   .bss:000000b5 last_r_n.3334
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8685   .bss:00000083 HoverGas
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8384   .bss:00000000 BaroExpandActive
                             .bss:000000a1 BaroAtLowerLimit.3353
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8988   .bss:000000a2 BaroAtUpperLimit.3352
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8992   .data:00000046 delay.3351
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8577   .bss:0000005f HoehenReglerAktiv
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8667   .bss:0000007b SollHoehe
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8986   .data:00000045 VarioCharacter
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9004   .bss:000000ab HeightTrimming.3345
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9002   .data:00000049 StickGasHover.3347
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8655   .bss:00000076 StartTrigger
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8994   .bss:000000a7 HoverGasMin.3348
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8997   .data:00000047 HoverGasMax.3349
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8999   .bss:000000a9 FilterHCGas.3346
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8989   .bss:000000a3 HoverGasFilter.3350
                            *COM*:00000002 DiffNick
                            *COM*:00000002 DiffRoll
                            *COM*:00000018 tmp_motorwert
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8564   .bss:0000005d KompassRichtung
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8789   .data:00000017 Parameter_Gier_P
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8929   .bss:00000094 ExternStickNick
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8935   .bss:00000096 ExternStickRoll
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8941   .bss:00000098 ExternStickGier
                            *COM*:00000002 ErsatzKompassInGrad
                            *COM*:00000001 h
                            *COM*:00000001 m
                            *COM*:00000001 s
                            *COM*:00000001 Parameter_J16Bitmask
                            *COM*:00000001 Parameter_J17Bitmask
                            *COM*:00000002 MesswertGierBias
                            *COM*:00000001 Parameter_NaviGpsModeControl
                            *COM*:00000001 Parameter_NaviGpsGain
                            *COM*:00000001 Parameter_NaviGpsP
                            *COM*:00000001 Parameter_NaviGpsI
                            *COM*:00000001 Parameter_NaviGpsD
                            *COM*:00000001 Parameter_NaviGpsACC
                            *COM*:00000001 Parameter_NaviOperatingRadius
                            *COM*:00000001 Parameter_NaviWindCorrection
                            *COM*:00000001 Parameter_NaviSpeedCompensation

UNDEFINED SYMBOLS
__do_copy_data
__do_clear_bss
EE_Parameter
__divmodsi4
DebugOut
__divmodhi4
AdWertGier
AdWertAccHoch
UBat
Motor
ServoNickValue
Capacity
GPS_Nick
GPS_Roll
VersionInfo
__prologue_saves__
AdWertNickFilter
AdWertRollFilter
AdWertAccNick
AdWertAccRoll
Aktuell_az
AdReady
__mulsi3
HiResNick
HiResRoll
AdWertNick
PlatinenVersion
AdWertRoll
__epilogue_restores__
MotorTest
PC_MotortestActive
I2C_TransferActive
motor_write
twi_state
BLFlags
PPM_in
FromNaviCtrl
BeepMuster
beeptime
SucheGyroOffset
ExpandBaro
Delay_ms_Mess
MessLuftdruck
SucheLuftruckOffset
SetParamWord
GetParamWord
_printf_P
uart_putchar
Luftdruck
StartLuftdruck
VarioMeter
GPS_Neutral
SendVersionToNavi
LED_Init
FromNaviCtrl_Value
ServoActive
Delay_ms
PPM_diff
SetActiveParamSet
WinkelOut
GetActiveParamSet
ParamSet_ReadFromEEProm
LipoDetection
LIBFC_ReceiverInit
NewPpmData
FromNC_Rotate_C
FromNC_Rotate_S
GPS_Nick2
GPS_Roll2
__floatsisf
__addsf3
__fixunssfsi
ExternControl
ZaehlMessungen
BattLowVoltageWarning
__udivmodhi4
DruckOffsetSetting
SummenHoehe
ihypot
c_cos_8192
MissingMotor
Mixer