	.file	"882796.c"
	.intel_syntax noprefix
	.text
	.globl	pprz_mode
	.bss
	.type	pprz_mode, @object
	.size	pprz_mode, 1
pprz_mode:
	.zero	1
	.globl	vertical_mode
	.type	vertical_mode, @object
	.size	vertical_mode, 1
vertical_mode:
	.zero	1
	.local	low_battery
	.comm	low_battery,1,1
	.globl	nav_desired_gaz
	.align 2
	.type	nav_desired_gaz, @object
	.size	nav_desired_gaz, 2
nav_desired_gaz:
	.zero	2
	.globl	estimator_flight_time
	.align 2
	.type	estimator_flight_time, @object
	.size	estimator_flight_time, 2
estimator_flight_time:
	.zero	2
	.globl	launch
	.type	launch, @object
	.size	launch, 1
launch:
	.zero	1
	.globl	nav_pitch
	.align 4
	.type	nav_pitch, @object
	.size	nav_pitch, 4
nav_pitch:
	.zero	4
	.globl	estimator_z_dot
	.align 4
	.type	estimator_z_dot, @object
	.size	estimator_z_dot, 4
estimator_z_dot:
	.zero	4
	.globl	auto_pitch
	.type	auto_pitch, @object
	.size	auto_pitch, 1
auto_pitch:
	.zero	1
	.globl	desired_roll
	.align 4
	.type	desired_roll, @object
	.size	desired_roll, 4
desired_roll:
	.zero	4
	.globl	desired_pitch
	.align 4
	.type	desired_pitch, @object
	.size	desired_pitch, 4
desired_pitch:
	.zero	4
	.globl	desired_gaz
	.align 2
	.type	desired_gaz, @object
	.size	desired_gaz, 2
desired_gaz:
	.zero	2
	.globl	desired_aileron
	.align 2
	.type	desired_aileron, @object
	.size	desired_aileron, 2
desired_aileron:
	.zero	2
	.globl	desired_elevator
	.align 2
	.type	desired_elevator, @object
	.size	desired_elevator, 2
desired_elevator:
	.zero	2
	.globl	roll_pgain
	.data
	.align 4
	.type	roll_pgain, @object
	.size	roll_pgain, 4
roll_pgain:
	.long	1176256512
	.globl	pitch_pgain
	.align 4
	.type	pitch_pgain, @object
	.size	pitch_pgain, 4
pitch_pgain:
	.long	1181376512
	.globl	pitch_of_roll
	.bss
	.align 4
	.type	pitch_of_roll, @object
	.size	pitch_of_roll, 4
pitch_of_roll:
	.zero	4
	.globl	pitch_of_vz_pgain
	.data
	.align 4
	.type	pitch_of_vz_pgain, @object
	.size	pitch_of_vz_pgain, 4
pitch_of_vz_pgain:
	.long	1028443341
	.globl	pitch_of_vz
	.bss
	.align 4
	.type	pitch_of_vz, @object
	.size	pitch_of_vz, 4
pitch_of_vz:
	.zero	4
	.globl	climb_pgain
	.section	.rodata
	.align 4
	.type	climb_pgain, @object
	.size	climb_pgain, 4
climb_pgain:
	.long	-1124744561
	.globl	climb_igain
	.align 4
	.type	climb_igain, @object
	.size	climb_igain, 4
climb_igain:
	.long	1036831949
	.globl	desired_climb
	.bss
	.align 4
	.type	desired_climb, @object
	.size	desired_climb, 4
desired_climb:
	.zero	4
	.globl	pre_climb
	.align 4
	.type	pre_climb, @object
	.size	pre_climb, 4
pre_climb:
	.zero	4
	.section	.rodata
	.align 4
	.type	level_gaz, @object
	.size	level_gaz, 4
level_gaz:
	.long	1050589266
	.globl	climb_sum_err
	.bss
	.align 4
	.type	climb_sum_err, @object
	.size	climb_sum_err, 4
climb_sum_err:
	.zero	4
	.globl	climb_pitch_pgain
	.data
	.align 4
	.type	climb_pitch_pgain, @object
	.size	climb_pitch_pgain, 4
climb_pitch_pgain:
	.long	-1110651699
	.globl	climb_pitch_igain
	.align 4
	.type	climb_pitch_igain, @object
	.size	climb_pitch_igain, 4
climb_pitch_igain:
	.long	1020054733
	.globl	climb_pitch_sum_err
	.bss
	.align 4
	.type	climb_pitch_sum_err, @object
	.size	climb_pitch_sum_err, 4
climb_pitch_sum_err:
	.zero	4
	.globl	max_pitch
	.data
	.align 4
	.type	max_pitch, @object
	.size	max_pitch, 4
max_pitch:
	.long	1051931443
	.globl	min_pitch
	.align 4
	.type	min_pitch, @object
	.size	min_pitch, 4
min_pitch:
	.long	-1095552205
	.text
	.globl	climb_control_task
	.type	climb_control_task, @function
climb_control_task:
.LFB0:
	.cfi_startproc
	endbr64
	push	rbp
	.cfi_def_cfa_offset 16
	.cfi_offset 6, -16
	mov	rbp, rsp
	.cfi_def_cfa_register 6
	movzx	eax, BYTE PTR pprz_mode[rip]
	cmp	al, 2
	je	.L2
	movzx	eax, BYTE PTR pprz_mode[rip]
	cmp	al, 3
	jne	.L40
.L2:
	movzx	eax, BYTE PTR vertical_mode[rip]
	cmp	al, 1
	jbe	.L4
	movss	xmm0, DWORD PTR estimator_z_dot[rip]
	movss	xmm1, DWORD PTR desired_climb[rip]
	subss	xmm0, xmm1
	movss	DWORD PTR -8[rbp], xmm0
	movzx	eax, BYTE PTR auto_pitch[rip]
	test	al, al
	je	.L5
	movzx	eax, WORD PTR nav_desired_gaz[rip]
	mov	WORD PTR desired_gaz[rip], ax
	movss	xmm1, DWORD PTR climb_pitch_igain[rip]
	movss	xmm0, DWORD PTR climb_pitch_sum_err[rip]
	mulss	xmm0, xmm1
	movaps	xmm1, xmm0
	addss	xmm1, DWORD PTR -8[rbp]
	movss	xmm0, DWORD PTR climb_pitch_pgain[rip]
	mulss	xmm0, xmm1
	movss	DWORD PTR desired_pitch[rip], xmm0
	movss	xmm0, DWORD PTR desired_pitch[rip]
	movss	xmm1, DWORD PTR max_pitch[rip]
	comiss	xmm0, xmm1
	jbe	.L6
	movss	xmm0, DWORD PTR max_pitch[rip]
	movss	DWORD PTR desired_pitch[rip], xmm0
.L6:
	movss	xmm1, DWORD PTR desired_pitch[rip]
	movss	xmm0, DWORD PTR min_pitch[rip]
	comiss	xmm0, xmm1
	jbe	.L8
	movss	xmm0, DWORD PTR min_pitch[rip]
	movss	DWORD PTR desired_pitch[rip], xmm0
.L8:
	movss	xmm0, DWORD PTR climb_pitch_sum_err[rip]
	addss	xmm0, DWORD PTR -8[rbp]
	movss	DWORD PTR climb_pitch_sum_err[rip], xmm0
	movss	xmm0, DWORD PTR climb_pitch_sum_err[rip]
	comiss	xmm0, DWORD PTR .LC0[rip]
	jbe	.L10
	movss	xmm0, DWORD PTR .LC0[rip]
	movss	DWORD PTR climb_pitch_sum_err[rip], xmm0
.L10:
	movss	xmm1, DWORD PTR climb_pitch_sum_err[rip]
	movss	xmm0, DWORD PTR .LC1[rip]
	comiss	xmm0, xmm1
	jbe	.L4
	movss	xmm0, DWORD PTR .LC1[rip]
	movss	DWORD PTR climb_pitch_sum_err[rip], xmm0
	jmp	.L4
.L5:
	movss	xmm0, DWORD PTR desired_climb[rip]
	pxor	xmm1, xmm1
	comiss	xmm0, xmm1
	jbe	.L37
	movss	xmm1, DWORD PTR desired_climb[rip]
	movss	xmm0, DWORD PTR pitch_of_vz_pgain[rip]
	mulss	xmm0, xmm1
	jmp	.L15
.L37:
	pxor	xmm0, xmm0
.L15:
	movss	DWORD PTR pitch_of_vz[rip], xmm0
	movss	xmm1, DWORD PTR .LC3[rip]
	movss	xmm0, DWORD PTR climb_sum_err[rip]
	mulss	xmm0, xmm1
	movaps	xmm1, xmm0
	addss	xmm1, DWORD PTR -8[rbp]
	movss	xmm0, DWORD PTR .LC4[rip]
	mulss	xmm0, xmm1
	pxor	xmm1, xmm1
	cvtss2sd	xmm1, xmm0
	movsd	xmm0, QWORD PTR .LC5[rip]
	addsd	xmm1, xmm0
	movss	xmm0, DWORD PTR desired_climb[rip]
	pxor	xmm2, xmm2
	cvtss2sd	xmm2, xmm0
	movsd	xmm0, QWORD PTR .LC6[rip]
	mulsd	xmm0, xmm2
	addsd	xmm0, xmm1
	cvtsd2ss	xmm0, xmm0
	movss	DWORD PTR -4[rbp], xmm0
	movss	xmm0, DWORD PTR climb_sum_err[rip]
	addss	xmm0, DWORD PTR -8[rbp]
	movss	DWORD PTR climb_sum_err[rip], xmm0
	movss	xmm0, DWORD PTR climb_sum_err[rip]
	comiss	xmm0, DWORD PTR .LC0[rip]
	jbe	.L16
	movss	xmm0, DWORD PTR .LC0[rip]
	movss	DWORD PTR climb_sum_err[rip], xmm0
.L16:
	movss	xmm1, DWORD PTR climb_sum_err[rip]
	movss	xmm0, DWORD PTR .LC1[rip]
	comiss	xmm0, xmm1
	jbe	.L18
	movss	xmm0, DWORD PTR .LC1[rip]
	movss	DWORD PTR climb_sum_err[rip], xmm0
.L18:
	movss	xmm1, DWORD PTR -4[rbp]
	movss	xmm0, DWORD PTR .LC7[rip]
	mulss	xmm1, xmm0
	pxor	xmm0, xmm0
	comiss	xmm0, xmm1
	jbe	.L38
	mov	eax, 0
	jmp	.L22
.L38:
	movss	xmm1, DWORD PTR -4[rbp]
	movss	xmm0, DWORD PTR .LC7[rip]
	mulss	xmm0, xmm1
	comiss	xmm0, DWORD PTR .LC7[rip]
	jbe	.L39
	mov	eax, 9600
	jmp	.L22
.L39:
	movss	xmm1, DWORD PTR -4[rbp]
	movss	xmm0, DWORD PTR .LC7[rip]
	mulss	xmm0, xmm1
	cvttss2si	eax, xmm0
.L22:
	mov	WORD PTR desired_gaz[rip], ax
	movss	xmm1, DWORD PTR nav_pitch[rip]
	movss	xmm0, DWORD PTR pitch_of_vz[rip]
	addss	xmm0, xmm1
	movss	DWORD PTR desired_pitch[rip], xmm0
.L4:
	movzx	eax, BYTE PTR vertical_mode[rip]
	cmp	al, 1
	jne	.L26
	movzx	eax, WORD PTR nav_desired_gaz[rip]
	mov	WORD PTR desired_gaz[rip], ax
.L26:
	movzx	eax, BYTE PTR low_battery[rip]
	test	al, al
	jne	.L27
	movzx	eax, WORD PTR estimator_flight_time[rip]
	test	ax, ax
	jne	.L40
	movzx	eax, BYTE PTR launch[rip]
	test	al, al
	jne	.L40
.L27:
	mov	WORD PTR desired_gaz[rip], 0
.L40:
	nop
	pop	rbp
	.cfi_def_cfa 7, 8
	ret
	.cfi_endproc
.LFE0:
	.size	climb_control_task, .-climb_control_task
	.globl	main
	.type	main, @function
main:
.LFB1:
	.cfi_startproc
	endbr64
	push	rbp
	.cfi_def_cfa_offset 16
	.cfi_offset 6, -16
	mov	rbp, rsp
	.cfi_def_cfa_register 6
	mov	BYTE PTR pprz_mode[rip], 2
	mov	BYTE PTR vertical_mode[rip], 0
	mov	BYTE PTR low_battery[rip], 0
	mov	WORD PTR estimator_flight_time[rip], 0
	mov	BYTE PTR launch[rip], 0
	call	climb_control_task
	mov	eax, 0
	pop	rbp
	.cfi_def_cfa 7, 8
	ret
	.cfi_endproc
.LFE1:
	.size	main, .-main
	.section	.rodata
	.align 4
.LC0:
	.long	1120403456
	.align 4
.LC1:
	.long	-1027080192
	.align 4
.LC3:
	.long	1036831949
	.align 4
.LC4:
	.long	-1124744561
	.align 8
.LC5:
	.long	1030792151
	.long	1070847754
	.align 8
.LC6:
	.long	-1717986918
	.long	1070176665
	.align 4
.LC7:
	.long	1175846912
	.ident	"GCC: (Ubuntu 10.5.0-1ubuntu1~20.04) 10.5.0"
	.section	.note.GNU-stack,"",@progbits
	.section	.note.gnu.property,"a"
	.align 8
	.long	 1f - 0f
	.long	 4f - 1f
	.long	 5
0:
	.string	 "GNU"
1:
	.align 8
	.long	 0xc0000002
	.long	 3f - 2f
2:
	.long	 0x3
3:
	.align 8
4:

	.arch armv5t
	.eabi_attribute 20, 1
	.eabi_attribute 21, 1
	.eabi_attribute 23, 3
	.eabi_attribute 24, 1
	.eabi_attribute 25, 1
	.eabi_attribute 26, 2
	.eabi_attribute 30, 6
	.eabi_attribute 34, 0
	.eabi_attribute 18, 4
	.file	"882796.c"
	.text
	.comm	pprz_mode,1,1
	.global	vertical_mode
	.bss
	.type	vertical_mode, %object
	.size	vertical_mode, 1
vertical_mode:
	.space	1
	.local	low_battery
	.comm	low_battery,1,1
	.comm	nav_desired_gaz,2,2
	.comm	estimator_flight_time,2,2
	.global	launch
	.type	launch, %object
	.size	launch, 1
launch:
	.space	1
	.global	nav_pitch
	.align	2
	.type	nav_pitch, %object
	.size	nav_pitch, 4
nav_pitch:
	.space	4
	.comm	estimator_z_dot,4,4
	.global	auto_pitch
	.type	auto_pitch, %object
	.size	auto_pitch, 1
auto_pitch:
	.space	1
	.global	desired_roll
	.align	2
	.type	desired_roll, %object
	.size	desired_roll, 4
desired_roll:
	.space	4
	.global	desired_pitch
	.align	2
	.type	desired_pitch, %object
	.size	desired_pitch, 4
desired_pitch:
	.space	4
	.comm	desired_gaz,2,2
	.comm	desired_aileron,2,2
	.comm	desired_elevator,2,2
	.global	roll_pgain
	.data
	.align	2
	.type	roll_pgain, %object
	.size	roll_pgain, 4
roll_pgain:
	.word	1176256512
	.global	pitch_pgain
	.align	2
	.type	pitch_pgain, %object
	.size	pitch_pgain, 4
pitch_pgain:
	.word	1181376512
	.global	pitch_of_roll
	.bss
	.align	2
	.type	pitch_of_roll, %object
	.size	pitch_of_roll, 4
pitch_of_roll:
	.space	4
	.global	pitch_of_vz_pgain
	.data
	.align	2
	.type	pitch_of_vz_pgain, %object
	.size	pitch_of_vz_pgain, 4
pitch_of_vz_pgain:
	.word	1028443341
	.global	pitch_of_vz
	.bss
	.align	2
	.type	pitch_of_vz, %object
	.size	pitch_of_vz, 4
pitch_of_vz:
	.space	4
	.global	climb_pgain
	.section	.rodata
	.align	2
	.type	climb_pgain, %object
	.size	climb_pgain, 4
climb_pgain:
	.word	3170222735
	.global	climb_igain
	.align	2
	.type	climb_igain, %object
	.size	climb_igain, 4
climb_igain:
	.word	1036831949
	.global	desired_climb
	.bss
	.align	2
	.type	desired_climb, %object
	.size	desired_climb, 4
desired_climb:
	.space	4
	.global	pre_climb
	.align	2
	.type	pre_climb, %object
	.size	pre_climb, 4
pre_climb:
	.space	4
	.section	.rodata
	.align	2
	.type	level_gaz, %object
	.size	level_gaz, 4
level_gaz:
	.word	1050589266
	.global	climb_sum_err
	.bss
	.align	2
	.type	climb_sum_err, %object
	.size	climb_sum_err, 4
climb_sum_err:
	.space	4
	.global	climb_pitch_pgain
	.data
	.align	2
	.type	climb_pitch_pgain, %object
	.size	climb_pitch_pgain, 4
climb_pitch_pgain:
	.word	3184315597
	.global	climb_pitch_igain
	.align	2
	.type	climb_pitch_igain, %object
	.size	climb_pitch_igain, 4
climb_pitch_igain:
	.word	1020054733
	.global	climb_pitch_sum_err
	.bss
	.align	2
	.type	climb_pitch_sum_err, %object
	.size	climb_pitch_sum_err, 4
climb_pitch_sum_err:
	.space	4
	.global	max_pitch
	.data
	.align	2
	.type	max_pitch, %object
	.size	max_pitch, 4
max_pitch:
	.word	1051931443
	.global	min_pitch
	.align	2
	.type	min_pitch, %object
	.size	min_pitch, 4
min_pitch:
	.word	3199415091
	.global	__aeabi_fsub
	.global	__aeabi_fmul
	.global	__aeabi_fadd
	.global	__aeabi_fcmpgt
	.global	__aeabi_fcmplt
	.global	__aeabi_f2d
	.global	__aeabi_dadd
	.global	__aeabi_dmul
	.global	__aeabi_d2f
	.global	__aeabi_f2iz
	.text
	.align	2
	.global	climb_control_task
	.syntax unified
	.arm
	.fpu softvfp
	.type	climb_control_task, %function
climb_control_task:
	@ args = 0, pretend = 0, frame = 8
	@ frame_needed = 1, uses_anonymous_args = 0
	push	{r4, r5, fp, lr}
	add	fp, sp, #12
	sub	sp, sp, #8
	ldr	r3, .L41
	ldrb	r3, [r3]	@ zero_extendqisi2
	cmp	r3, #2
	beq	.L2
	ldr	r3, .L41
	ldrb	r3, [r3]	@ zero_extendqisi2
	cmp	r3, #3
	bne	.L40
.L2:
	ldr	r3, .L41+4
	ldrb	r3, [r3]	@ zero_extendqisi2
	cmp	r3, #1
	bls	.L4
	ldr	r3, .L41+8
	ldr	r3, [r3]	@ float
	ldr	r2, .L41+12
	ldr	r2, [r2]	@ float
	mov	r1, r2
	mov	r0, r3
	bl	__aeabi_fsub
	mov	r3, r0
	str	r3, [fp, #-20]	@ float
	ldr	r3, .L41+16
	ldrb	r3, [r3]	@ zero_extendqisi2
	cmp	r3, #0
	beq	.L5
	ldr	r3, .L41+20
	ldrh	r3, [r3]
	lsl	r3, r3, #16
	asr	r3, r3, #16
	ldr	r2, .L41+24
	strh	r3, [r2]	@ movhi
	ldr	r3, .L41+28
	ldr	r3, [r3]	@ float
	ldr	r2, .L41+32
	ldr	r2, [r2]	@ float
	mov	r1, r2
	mov	r0, r3
	bl	__aeabi_fmul
	mov	r3, r0
	ldr	r1, [fp, #-20]	@ float
	mov	r0, r3
	bl	__aeabi_fadd
	mov	r3, r0
	mov	r2, r3
	ldr	r3, .L41+36
	ldr	r3, [r3]	@ float
	mov	r1, r3
	mov	r0, r2
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r2, r3
	ldr	r3, .L41+40
	str	r2, [r3]	@ float
	ldr	r3, .L41+40
	ldr	r3, [r3]	@ float
	ldr	r2, .L41+44
	ldr	r2, [r2]	@ float
	mov	r1, r2
	mov	r0, r3
	bl	__aeabi_fcmpgt
	mov	r3, r0
	cmp	r3, #0
	beq	.L6
	ldr	r3, .L41+44
	ldr	r3, [r3]	@ float
	ldr	r2, .L41+40
	str	r3, [r2]	@ float
.L6:
	ldr	r3, .L41+40
	ldr	r3, [r3]	@ float
	ldr	r2, .L41+48
	ldr	r2, [r2]	@ float
	mov	r1, r2
	mov	r0, r3
	bl	__aeabi_fcmplt
	mov	r3, r0
	cmp	r3, #0
	beq	.L8
	ldr	r3, .L41+48
	ldr	r3, [r3]	@ float
	ldr	r2, .L41+40
	str	r3, [r2]	@ float
.L8:
	ldr	r3, .L41+32
	ldr	r3, [r3]	@ float
	ldr	r1, [fp, #-20]	@ float
	mov	r0, r3
	bl	__aeabi_fadd
	mov	r3, r0
	mov	r2, r3
	ldr	r3, .L41+32
	str	r2, [r3]	@ float
	ldr	r3, .L41+32
	ldr	r3, [r3]	@ float
	ldr	r1, .L41+52
	mov	r0, r3
	bl	__aeabi_fcmpgt
	mov	r3, r0
	cmp	r3, #0
	beq	.L10
	ldr	r3, .L41+32
	ldr	r2, .L41+52
	str	r2, [r3]	@ float
.L10:
	ldr	r3, .L41+32
	ldr	r3, [r3]	@ float
	ldr	r1, .L41+56
	mov	r0, r3
	bl	__aeabi_fcmplt
	mov	r3, r0
	cmp	r3, #0
	beq	.L4
	ldr	r3, .L41+32
	ldr	r2, .L41+56
	str	r2, [r3]	@ float
	b	.L4
.L5:
	ldr	r3, .L41+12
	ldr	r3, [r3]	@ float
	mov	r1, #0
	mov	r0, r3
	bl	__aeabi_fcmpgt
	mov	r3, r0
	cmp	r3, #0
	beq	.L37
	ldr	r3, .L41+12
	ldr	r3, [r3]	@ float
	ldr	r2, .L41+60
	ldr	r2, [r2]	@ float
	mov	r1, r2
	mov	r0, r3
	bl	__aeabi_fmul
	mov	r3, r0
	b	.L15
.L37:
	mov	r3, #0
.L15:
	ldr	r2, .L41+64
	str	r3, [r2]	@ float
	ldr	r2, .L41+68
	ldr	r3, .L41+72
	ldr	r3, [r3]	@ float
	mov	r1, r3
	mov	r0, r2
	bl	__aeabi_fmul
	mov	r3, r0
	ldr	r1, [fp, #-20]	@ float
	mov	r0, r3
	bl	__aeabi_fadd
	mov	r3, r0
	mov	r2, r3
	ldr	r3, .L41+76
	mov	r1, r3
	mov	r0, r2
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r0, r3
	bl	__aeabi_f2d
	ldr	r2, .L41+80
	ldr	r3, .L41+84
	bl	__aeabi_dadd
	mov	r2, r0
	mov	r3, r1
	mov	r4, r2
	mov	r5, r3
	ldr	r3, .L41+12
	ldr	r3, [r3]	@ float
	mov	r0, r3
	bl	__aeabi_f2d
	ldr	r2, .L41+88
	ldr	r3, .L41+92
	bl	__aeabi_dmul
	mov	r2, r0
	mov	r3, r1
	mov	r0, r4
	mov	r1, r5
	bl	__aeabi_dadd
	mov	r2, r0
	mov	r3, r1
	mov	r0, r2
	mov	r1, r3
	bl	__aeabi_d2f
	mov	r3, r0
	str	r3, [fp, #-16]	@ float
	ldr	r3, .L41+72
	ldr	r3, [r3]	@ float
	ldr	r1, [fp, #-20]	@ float
	mov	r0, r3
	bl	__aeabi_fadd
	mov	r3, r0
	mov	r2, r3
	ldr	r3, .L41+72
	str	r2, [r3]	@ float
	ldr	r3, .L41+72
	ldr	r3, [r3]	@ float
	ldr	r1, .L41+52
	mov	r0, r3
	bl	__aeabi_fcmpgt
	mov	r3, r0
	cmp	r3, #0
	beq	.L16
	ldr	r3, .L41+72
	ldr	r2, .L41+52
	str	r2, [r3]	@ float
.L16:
	ldr	r3, .L41+72
	ldr	r3, [r3]	@ float
	ldr	r1, .L41+56
	mov	r0, r3
	bl	__aeabi_fcmplt
	mov	r3, r0
	cmp	r3, #0
	beq	.L18
	ldr	r3, .L41+72
	ldr	r2, .L41+56
	str	r2, [r3]	@ float
.L18:
	ldr	r1, .L41+96
	ldr	r0, [fp, #-16]	@ float
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r1, #0
	mov	r0, r3
	bl	__aeabi_fcmplt
	mov	r3, r0
	cmp	r3, #0
	beq	.L38
	mov	r3, #0
	b	.L22
.L38:
	ldr	r1, .L41+96
	ldr	r0, [fp, #-16]	@ float
	bl	__aeabi_fmul
	mov	r3, r0
	ldr	r1, .L41+96
	mov	r0, r3
	bl	__aeabi_fcmpgt
	mov	r3, r0
	cmp	r3, #0
	beq	.L39
	mov	r3, #9600
	b	.L22
.L39:
	ldr	r1, .L41+96
	ldr	r0, [fp, #-16]	@ float
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r0, r3
	bl	__aeabi_f2iz
	mov	r3, r0
	lsl	r3, r3, #16
	asr	r3, r3, #16
.L22:
	ldr	r2, .L41+24
	strh	r3, [r2]	@ movhi
	ldr	r3, .L41+100
	ldr	r3, [r3]	@ float
	ldr	r2, .L41+64
	ldr	r2, [r2]	@ float
	mov	r1, r2
	mov	r0, r3
	bl	__aeabi_fadd
	mov	r3, r0
	mov	r2, r3
	ldr	r3, .L41+40
	str	r2, [r3]	@ float
.L4:
	ldr	r3, .L41+4
	ldrb	r3, [r3]	@ zero_extendqisi2
	cmp	r3, #1
	bne	.L26
	ldr	r3, .L41+20
	ldrh	r3, [r3]
	lsl	r3, r3, #16
	asr	r3, r3, #16
	ldr	r2, .L41+24
	strh	r3, [r2]	@ movhi
.L26:
	ldr	r3, .L41+104
	ldrb	r3, [r3]	@ zero_extendqisi2
	cmp	r3, #0
	bne	.L27
	ldr	r3, .L41+108
	ldrh	r3, [r3]
	cmp	r3, #0
	bne	.L40
	ldr	r3, .L41+112
	ldrb	r3, [r3]	@ zero_extendqisi2
	cmp	r3, #0
	bne	.L40
.L27:
	ldr	r3, .L41+24
	mov	r2, #0
	strh	r2, [r3]	@ movhi
.L40:
	nop
	sub	sp, fp, #12
	@ sp needed
	pop	{r4, r5, fp, pc}
.L42:
	.align	2
.L41:
	.word	pprz_mode
	.word	vertical_mode
	.word	estimator_z_dot
	.word	desired_climb
	.word	auto_pitch
	.word	nav_desired_gaz
	.word	desired_gaz
	.word	climb_pitch_igain
	.word	climb_pitch_sum_err
	.word	climb_pitch_pgain
	.word	desired_pitch
	.word	max_pitch
	.word	min_pitch
	.word	1120403456
	.word	-1027080192
	.word	pitch_of_vz_pgain
	.word	pitch_of_vz
	.word	1036831949
	.word	climb_sum_err
	.word	-1124744561
	.word	1030792151
	.word	1070847754
	.word	-1717986918
	.word	1070176665
	.word	1175846912
	.word	nav_pitch
	.word	low_battery
	.word	estimator_flight_time
	.word	launch
	.size	climb_control_task, .-climb_control_task
	.align	2
	.global	main
	.syntax unified
	.arm
	.fpu softvfp
	.type	main, %function
main:
	@ args = 0, pretend = 0, frame = 0
	@ frame_needed = 1, uses_anonymous_args = 0
	push	{fp, lr}
	add	fp, sp, #4
	ldr	r3, .L45
	mov	r2, #2
	strb	r2, [r3]
	ldr	r3, .L45+4
	mov	r2, #0
	strb	r2, [r3]
	ldr	r3, .L45+8
	mov	r2, #0
	strb	r2, [r3]
	ldr	r3, .L45+12
	mov	r2, #0
	strh	r2, [r3]	@ movhi
	ldr	r3, .L45+16
	mov	r2, #0
	strb	r2, [r3]
	bl	climb_control_task
	mov	r3, #0
	mov	r0, r3
	pop	{fp, pc}
.L46:
	.align	2
.L45:
	.word	pprz_mode
	.word	vertical_mode
	.word	low_battery
	.word	estimator_flight_time
	.word	launch
	.size	main, .-main
	.ident	"GCC: (Ubuntu 9.4.0-1ubuntu1~20.04.2) 9.4.0"
	.section	.note.GNU-stack,"",%progbits
