	.file	"266368.c"
	.intel_syntax noprefix
	.text
	.globl	nav_desired_gaz
	.bss
	.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	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	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	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
	.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
	.globl	fatal_error_nb
	.bss
	.type	fatal_error_nb, @object
	.size	fatal_error_nb, 1
fatal_error_nb:
	.zero	1
	.section	.rodata
	.align 2
	.type	version, @object
	.size	version, 2
version:
	.value	1
	.local	cputime
	.comm	cputime,2,2
	.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
	.globl	lateral_mode
	.type	lateral_mode, @object
	.size	lateral_mode, 1
lateral_mode:
	.zero	1
	.globl	ir_estim_mode
	.data
	.type	ir_estim_mode, @object
	.size	ir_estim_mode, 1
ir_estim_mode:
	.byte	1
	.globl	auto_pitch
	.bss
	.type	auto_pitch, @object
	.size	auto_pitch, 1
auto_pitch:
	.zero	1
	.globl	rc_event_1
	.type	rc_event_1, @object
	.size	rc_event_1, 1
rc_event_1:
	.zero	1
	.globl	rc_event_2
	.type	rc_event_2, @object
	.size	rc_event_2, 1
rc_event_2:
	.zero	1
	.globl	vsupply
	.type	vsupply, @object
	.size	vsupply, 1
vsupply:
	.zero	1
	.local	mcu1_status
	.comm	mcu1_status,1,1
	.local	mcu1_ppm_cpt
	.comm	mcu1_ppm_cpt,1,1
	.local	low_battery
	.comm	low_battery,1,1
	.globl	slider_1_val
	.align 4
	.type	slider_1_val, @object
	.size	slider_1_val, 4
slider_1_val:
	.zero	4
	.globl	slider_2_val
	.align 4
	.type	slider_2_val, @object
	.size	slider_2_val, 4
slider_2_val:
	.zero	4
	.globl	launch
	.type	launch, @object
	.size	launch, 1
launch:
	.zero	1
	.local	buf_ir1
	.comm	buf_ir1,68,32
	.local	buf_ir2
	.comm	buf_ir2,68,32
	.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	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	ir_roll
	.align 2
	.type	ir_roll, @object
	.size	ir_roll, 2
ir_roll:
	.zero	2
	.globl	ir_roll_neutral
	.data
	.align 2
	.type	ir_roll_neutral, @object
	.size	ir_roll_neutral, 2
ir_roll_neutral:
	.value	-915
	.globl	ir_pitch
	.bss
	.align 2
	.type	ir_pitch, @object
	.size	ir_pitch, 2
ir_pitch:
	.zero	2
	.globl	ir_pitch_neutral
	.data
	.align 2
	.type	ir_pitch_neutral, @object
	.size	ir_pitch_neutral, 2
ir_pitch_neutral:
	.value	110
	.globl	estimator_rad_of_ir
	.bss
	.align 4
	.type	estimator_rad_of_ir, @object
	.size	estimator_rad_of_ir, 4
estimator_rad_of_ir:
	.zero	4
	.globl	estimator_ir
	.align 4
	.type	estimator_ir, @object
	.size	estimator_ir, 4
estimator_ir:
	.zero	4
	.globl	estimator_rad
	.align 4
	.type	estimator_rad, @object
	.size	estimator_rad, 4
estimator_rad:
	.zero	4
	.globl	ir_rad_of_ir
	.align 4
	.type	ir_rad_of_ir, @object
	.size	ir_rad_of_ir, 4
ir_rad_of_ir:
	.zero	4
	.globl	rad_of_ir
	.align 4
	.type	rad_of_ir, @object
	.size	rad_of_ir, 4
rad_of_ir:
	.zero	4
	.globl	estimator_phi
	.align 4
	.type	estimator_phi, @object
	.size	estimator_phi, 4
estimator_phi:
	.zero	4
	.globl	estimator_theta
	.align 4
	.type	estimator_theta, @object
	.size	estimator_theta, 4
estimator_theta:
	.zero	4
	.globl	to_fbw
	.align 16
	.type	to_fbw, @object
	.size	to_fbw, 22
to_fbw:
	.zero	22
	.text
	.globl	stabilisation_task
	.type	stabilisation_task, @function
stabilisation_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, WORD PTR buf_ir1[rip]
	shr	ax, 5
	mov	WORD PTR -16[rbp], ax
	movzx	eax, WORD PTR buf_ir2[rip]
	shr	ax, 5
	mov	WORD PTR -14[rbp], ax
	movzx	eax, WORD PTR -16[rbp]
	neg	eax
	movzx	ecx, WORD PTR -14[rbp]
	sub	eax, ecx
	mov	edx, eax
	movzx	eax, WORD PTR ir_roll_neutral[rip]
	mov	ecx, eax
	mov	eax, edx
	sub	eax, ecx
	mov	WORD PTR ir_roll[rip], ax
	movzx	eax, WORD PTR -14[rbp]
	movzx	ecx, WORD PTR -16[rbp]
	sub	eax, ecx
	mov	edx, eax
	movzx	eax, WORD PTR ir_pitch_neutral[rip]
	mov	ecx, eax
	mov	eax, edx
	sub	eax, ecx
	mov	WORD PTR ir_pitch[rip], ax
	movzx	eax, BYTE PTR ir_estim_mode[rip]
	cmp	al, 1
	jne	.L2
	movss	xmm0, DWORD PTR estimator_rad_of_ir[rip]
	jmp	.L3
.L2:
	movss	xmm0, DWORD PTR ir_rad_of_ir[rip]
.L3:
	movss	DWORD PTR -12[rbp], xmm0
	movzx	eax, WORD PTR ir_roll[rip]
	cwde
	pxor	xmm0, xmm0
	cvtsi2ss	xmm0, eax
	mulss	xmm0, DWORD PTR -12[rbp]
	movss	DWORD PTR estimator_phi[rip], xmm0
	movzx	eax, WORD PTR ir_pitch[rip]
	cwde
	pxor	xmm0, xmm0
	cvtsi2ss	xmm0, eax
	mulss	xmm0, DWORD PTR -12[rbp]
	movss	DWORD PTR estimator_theta[rip], xmm0
	movss	xmm0, DWORD PTR estimator_phi[rip]
	movss	xmm1, DWORD PTR desired_roll[rip]
	subss	xmm0, xmm1
	movss	DWORD PTR -8[rbp], xmm0
	movss	xmm0, DWORD PTR roll_pgain[rip]
	movaps	xmm1, xmm0
	mulss	xmm1, DWORD PTR -8[rbp]
	movss	xmm0, DWORD PTR .LC0[rip]
	comiss	xmm0, xmm1
	jbe	.L35
	mov	eax, -9600
	jmp	.L6
.L35:
	movss	xmm0, DWORD PTR roll_pgain[rip]
	mulss	xmm0, DWORD PTR -8[rbp]
	comiss	xmm0, DWORD PTR .LC1[rip]
	jbe	.L36
	mov	eax, 9600
	jmp	.L6
.L36:
	movss	xmm0, DWORD PTR roll_pgain[rip]
	mulss	xmm0, DWORD PTR -8[rbp]
	cvttss2si	eax, xmm0
.L6:
	mov	WORD PTR desired_aileron[rip], ax
	movss	xmm1, DWORD PTR pitch_of_roll[rip]
	pxor	xmm0, xmm0
	comiss	xmm0, xmm1
	jbe	.L10
	pxor	xmm0, xmm0
	movss	DWORD PTR pitch_of_roll[rip], xmm0
.L10:
	movss	xmm1, DWORD PTR estimator_phi[rip]
	pxor	xmm0, xmm0
	comiss	xmm0, xmm1
	jbe	.L37
	movss	xmm0, DWORD PTR estimator_phi[rip]
	movss	xmm1, DWORD PTR .LC3[rip]
	xorps	xmm0, xmm1
	jmp	.L14
.L37:
	movss	xmm0, DWORD PTR estimator_phi[rip]
.L14:
	movss	DWORD PTR -4[rbp], xmm0
	movss	xmm0, DWORD PTR estimator_theta[rip]
	movss	xmm1, DWORD PTR desired_pitch[rip]
	subss	xmm0, xmm1
	movss	xmm1, DWORD PTR pitch_of_roll[rip]
	mulss	xmm1, DWORD PTR -4[rbp]
	subss	xmm0, xmm1
	movss	xmm1, DWORD PTR .LC3[rip]
	xorps	xmm0, xmm1
	movss	DWORD PTR -8[rbp], xmm0
	movss	xmm0, DWORD PTR pitch_pgain[rip]
	movaps	xmm1, xmm0
	mulss	xmm1, DWORD PTR -8[rbp]
	movss	xmm0, DWORD PTR .LC0[rip]
	comiss	xmm0, xmm1
	jbe	.L38
	mov	eax, -9600
	jmp	.L17
.L38:
	movss	xmm0, DWORD PTR pitch_pgain[rip]
	mulss	xmm0, DWORD PTR -8[rbp]
	comiss	xmm0, DWORD PTR .LC1[rip]
	jbe	.L39
	mov	eax, 9600
	jmp	.L17
.L39:
	movss	xmm0, DWORD PTR pitch_pgain[rip]
	mulss	xmm0, DWORD PTR -8[rbp]
	cvttss2si	eax, xmm0
.L17:
	mov	WORD PTR desired_elevator[rip], ax
	movzx	eax, WORD PTR desired_gaz[rip]
	mov	WORD PTR to_fbw[rip], ax
	movzx	eax, WORD PTR desired_aileron[rip]
	mov	WORD PTR to_fbw[rip+2], ax
	movzx	eax, WORD PTR desired_elevator[rip]
	mov	WORD PTR to_fbw[rip+4], ax
	movss	xmm0, DWORD PTR estimator_phi[rip]
	movss	xmm1, DWORD PTR .LC3[rip]
	xorps	xmm0, xmm1
	pxor	xmm1, xmm1
	cvtss2sd	xmm1, xmm0
	movsd	xmm0, QWORD PTR .LC4[rip]
	mulsd	xmm1, xmm0
	movsd	xmm0, QWORD PTR .LC5[rip]
	comisd	xmm0, xmm1
	jbe	.L40
	mov	eax, -9600
	jmp	.L23
.L40:
	movss	xmm0, DWORD PTR estimator_phi[rip]
	movss	xmm1, DWORD PTR .LC3[rip]
	xorps	xmm0, xmm1
	pxor	xmm1, xmm1
	cvtss2sd	xmm1, xmm0
	movsd	xmm0, QWORD PTR .LC4[rip]
	mulsd	xmm0, xmm1
	comisd	xmm0, QWORD PTR .LC6[rip]
	jbe	.L41
	mov	eax, 9600
	jmp	.L23
.L41:
	movss	xmm0, DWORD PTR estimator_phi[rip]
	movss	xmm1, DWORD PTR .LC3[rip]
	xorps	xmm0, xmm1
	pxor	xmm1, xmm1
	cvtss2sd	xmm1, xmm0
	movsd	xmm0, QWORD PTR .LC4[rip]
	mulsd	xmm0, xmm1
	cvttsd2si	eax, xmm0
.L23:
	mov	WORD PTR to_fbw[rip+10], ax
	nop
	pop	rbp
	.cfi_def_cfa 7, 8
	ret
	.cfi_endproc
.LFE0:
	.size	stabilisation_task, .-stabilisation_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 ir_estim_mode[rip], 0
	pxor	xmm0, xmm0
	movss	DWORD PTR roll_pgain[rip], xmm0
	pxor	xmm0, xmm0
	movss	DWORD PTR pitch_of_roll[rip], xmm0
	mov	WORD PTR buf_ir1[rip], 32
	mov	WORD PTR buf_ir2[rip], -32
	mov	WORD PTR ir_roll_neutral[rip], 1
	movss	xmm0, DWORD PTR .LC7[rip]
	movss	DWORD PTR ir_rad_of_ir[rip], xmm0
	pxor	xmm0, xmm0
	movss	DWORD PTR pitch_pgain[rip], xmm0
	mov	eax, 0
	pop	rbp
	.cfi_def_cfa 7, 8
	ret
	.cfi_endproc
.LFE1:
	.size	main, .-main
	.section	.rodata
	.align 4
.LC0:
	.long	-971636736
	.align 4
.LC1:
	.long	1175846912
	.align 16
.LC3:
	.long	-2147483648
	.long	0
	.long	0
	.long	0
	.align 8
.LC4:
	.long	0
	.long	1086914560
	.align 8
.LC5:
	.long	0
	.long	-1060978688
	.align 8
.LC6:
	.long	0
	.long	1086504960
	.align 4
.LC7:
	.long	-1082130432
	.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	"266368.c"
	.text
	.comm	nav_desired_gaz,2,2
	.comm	estimator_flight_time,2,2
	.global	nav_pitch
	.bss
	.align	2
	.type	nav_pitch, %object
	.size	nav_pitch, 4
nav_pitch:
	.space	4
	.comm	estimator_z_dot,4,4
	.comm	desired_gaz,2,2
	.comm	desired_aileron,2,2
	.comm	desired_elevator,2,2
	.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
	.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	fatal_error_nb
	.bss
	.type	fatal_error_nb, %object
	.size	fatal_error_nb, 1
fatal_error_nb:
	.space	1
	.section	.rodata
	.align	1
	.type	version, %object
	.size	version, 2
version:
	.short	1
	.local	cputime
	.comm	cputime,2,2
	.global	pprz_mode
	.bss
	.type	pprz_mode, %object
	.size	pprz_mode, 1
pprz_mode:
	.space	1
	.global	vertical_mode
	.type	vertical_mode, %object
	.size	vertical_mode, 1
vertical_mode:
	.space	1
	.global	lateral_mode
	.type	lateral_mode, %object
	.size	lateral_mode, 1
lateral_mode:
	.space	1
	.global	ir_estim_mode
	.data
	.type	ir_estim_mode, %object
	.size	ir_estim_mode, 1
ir_estim_mode:
	.byte	1
	.global	auto_pitch
	.bss
	.type	auto_pitch, %object
	.size	auto_pitch, 1
auto_pitch:
	.space	1
	.comm	rc_event_1,1,1
	.comm	rc_event_2,1,1
	.comm	vsupply,1,1
	.local	mcu1_status
	.comm	mcu1_status,1,1
	.local	mcu1_ppm_cpt
	.comm	mcu1_ppm_cpt,1,1
	.local	low_battery
	.comm	low_battery,1,1
	.comm	slider_1_val,4,4
	.comm	slider_2_val,4,4
	.global	launch
	.type	launch, %object
	.size	launch, 1
launch:
	.space	1
	.local	buf_ir1
	.comm	buf_ir1,68,4
	.local	buf_ir2
	.comm	buf_ir2,68,4
	.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
	.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
	.comm	ir_roll,2,2
	.global	ir_roll_neutral
	.data
	.align	1
	.type	ir_roll_neutral, %object
	.size	ir_roll_neutral, 2
ir_roll_neutral:
	.short	-915
	.comm	ir_pitch,2,2
	.global	ir_pitch_neutral
	.align	1
	.type	ir_pitch_neutral, %object
	.size	ir_pitch_neutral, 2
ir_pitch_neutral:
	.short	110
	.comm	estimator_rad_of_ir,4,4
	.comm	estimator_ir,4,4
	.comm	estimator_rad,4,4
	.comm	ir_rad_of_ir,4,4
	.comm	rad_of_ir,4,4
	.comm	estimator_phi,4,4
	.comm	estimator_theta,4,4
	.comm	to_fbw,22,4
	.global	__aeabi_i2f
	.global	__aeabi_fmul
	.global	__aeabi_fsub
	.global	__aeabi_fcmplt
	.global	__aeabi_fcmpgt
	.global	__aeabi_f2iz
	.global	__aeabi_f2d
	.global	__aeabi_dmul
	.global	__aeabi_dcmplt
	.global	__aeabi_dcmpgt
	.global	__aeabi_d2iz
	.text
	.align	2
	.global	stabilisation_task
	.syntax unified
	.arm
	.fpu softvfp
	.type	stabilisation_task, %function
stabilisation_task:
	@ args = 0, pretend = 0, frame = 16
	@ frame_needed = 1, uses_anonymous_args = 0
	push	{r4, fp, lr}
	add	fp, sp, #8
	sub	sp, sp, #20
	ldr	r3, .L42
	ldrh	r3, [r3]
	lsr	r3, r3, #5
	lsl	r3, r3, #16
	lsr	r3, r3, #16
	strh	r3, [fp, #-28]	@ movhi
	ldr	r3, .L42+4
	ldrh	r3, [r3]
	lsr	r3, r3, #5
	lsl	r3, r3, #16
	lsr	r3, r3, #16
	strh	r3, [fp, #-26]	@ movhi
	ldrh	r3, [fp, #-28]
	rsb	r3, r3, #0
	lsl	r3, r3, #16
	lsr	r2, r3, #16
	ldrh	r3, [fp, #-26]
	sub	r3, r2, r3
	lsl	r3, r3, #16
	lsr	r2, r3, #16
	ldr	r3, .L42+8
	ldrsh	r3, [r3]
	lsl	r3, r3, #16
	lsr	r3, r3, #16
	sub	r3, r2, r3
	lsl	r3, r3, #16
	lsr	r3, r3, #16
	lsl	r3, r3, #16
	asr	r3, r3, #16
	ldr	r2, .L42+12
	strh	r3, [r2]	@ movhi
	ldrh	r2, [fp, #-26]
	ldrh	r3, [fp, #-28]
	sub	r3, r2, r3
	lsl	r3, r3, #16
	lsr	r2, r3, #16
	ldr	r3, .L42+16
	ldrsh	r3, [r3]
	lsl	r3, r3, #16
	lsr	r3, r3, #16
	sub	r3, r2, r3
	lsl	r3, r3, #16
	lsr	r3, r3, #16
	lsl	r3, r3, #16
	asr	r3, r3, #16
	ldr	r2, .L42+20
	strh	r3, [r2]	@ movhi
	ldr	r3, .L42+24
	ldrb	r3, [r3]	@ zero_extendqisi2
	cmp	r3, #1
	bne	.L2
	ldr	r3, .L42+28
	ldr	r3, [r3]	@ float
	b	.L3
.L2:
	ldr	r3, .L42+32
	ldr	r3, [r3]	@ float
.L3:
	str	r3, [fp, #-24]	@ float
	ldr	r3, .L42+12
	ldrsh	r3, [r3]
	mov	r0, r3
	bl	__aeabi_i2f
	mov	r3, r0
	ldr	r1, [fp, #-24]	@ float
	mov	r0, r3
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r2, r3
	ldr	r3, .L42+36
	str	r2, [r3]	@ float
	ldr	r3, .L42+20
	ldrsh	r3, [r3]
	mov	r0, r3
	bl	__aeabi_i2f
	mov	r3, r0
	ldr	r1, [fp, #-24]	@ float
	mov	r0, r3
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r2, r3
	ldr	r3, .L42+40
	str	r2, [r3]	@ float
	ldr	r3, .L42+36
	ldr	r3, [r3]	@ float
	ldr	r2, .L42+44
	ldr	r2, [r2]	@ float
	mov	r1, r2
	mov	r0, r3
	bl	__aeabi_fsub
	mov	r3, r0
	str	r3, [fp, #-20]	@ float
	ldr	r3, .L42+48
	ldr	r3, [r3]	@ float
	ldr	r1, [fp, #-20]	@ float
	mov	r0, r3
	bl	__aeabi_fmul
	mov	r3, r0
	ldr	r1, .L42+52
	mov	r0, r3
	bl	__aeabi_fcmplt
	mov	r3, r0
	cmp	r3, #0
	beq	.L35
	ldr	r3, .L42+56
	b	.L6
.L35:
	ldr	r3, .L42+48
	ldr	r3, [r3]	@ float
	ldr	r1, [fp, #-20]	@ float
	mov	r0, r3
	bl	__aeabi_fmul
	mov	r3, r0
	ldr	r1, .L42+60
	mov	r0, r3
	bl	__aeabi_fcmpgt
	mov	r3, r0
	cmp	r3, #0
	beq	.L36
	mov	r3, #9600
	b	.L6
.L36:
	ldr	r3, .L42+48
	ldr	r3, [r3]	@ float
	ldr	r1, [fp, #-20]	@ float
	mov	r0, r3
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r0, r3
	bl	__aeabi_f2iz
	mov	r3, r0
	lsl	r3, r3, #16
	asr	r3, r3, #16
.L6:
	ldr	r2, .L42+64
	strh	r3, [r2]	@ movhi
	ldr	r3, .L42+68
	ldr	r3, [r3]	@ float
	mov	r1, #0
	mov	r0, r3
	bl	__aeabi_fcmplt
	mov	r3, r0
	cmp	r3, #0
	beq	.L10
	ldr	r3, .L42+68
	mov	r2, #0
	str	r2, [r3]	@ float
.L10:
	ldr	r3, .L42+36
	ldr	r3, [r3]	@ float
	mov	r1, #0
	mov	r0, r3
	bl	__aeabi_fcmplt
	mov	r3, r0
	cmp	r3, #0
	beq	.L37
	ldr	r3, .L42+36
	ldr	r3, [r3]	@ float
	eor	r3, r3, #-2147483648
	b	.L14
.L37:
	ldr	r3, .L42+36
	ldr	r3, [r3]	@ float
.L14:
	str	r3, [fp, #-16]	@ float
	ldr	r3, .L42+40
	ldr	r3, [r3]	@ float
	ldr	r2, .L42+72
	ldr	r2, [r2]	@ float
	mov	r1, r2
	mov	r0, r3
	bl	__aeabi_fsub
	mov	r3, r0
	mov	r4, r3
	ldr	r3, .L42+68
	ldr	r3, [r3]	@ float
	ldr	r1, [fp, #-16]	@ float
	mov	r0, r3
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r1, r3
	mov	r0, r4
	bl	__aeabi_fsub
	mov	r3, r0
	eor	r3, r3, #-2147483648
	str	r3, [fp, #-20]	@ float
	ldr	r3, .L42+76
	ldr	r3, [r3]	@ float
	ldr	r1, [fp, #-20]	@ float
	mov	r0, r3
	bl	__aeabi_fmul
	mov	r3, r0
	ldr	r1, .L42+52
	mov	r0, r3
	bl	__aeabi_fcmplt
	mov	r3, r0
	cmp	r3, #0
	beq	.L38
	ldr	r3, .L42+56
	b	.L17
.L38:
	ldr	r3, .L42+76
	ldr	r3, [r3]	@ float
	ldr	r1, [fp, #-20]	@ float
	mov	r0, r3
	bl	__aeabi_fmul
	mov	r3, r0
	ldr	r1, .L42+60
	mov	r0, r3
	bl	__aeabi_fcmpgt
	mov	r3, r0
	cmp	r3, #0
	beq	.L39
	mov	r3, #9600
	b	.L17
.L39:
	ldr	r3, .L42+76
	ldr	r3, [r3]	@ float
	ldr	r1, [fp, #-20]	@ float
	mov	r0, r3
	bl	__aeabi_fmul
	mov	r3, r0
	mov	r0, r3
	bl	__aeabi_f2iz
	mov	r3, r0
	lsl	r3, r3, #16
	asr	r3, r3, #16
.L17:
	ldr	r2, .L42+80
	strh	r3, [r2]	@ movhi
	ldr	r3, .L42+84
	ldrsh	r3, [r3]
	ldr	r2, .L42+88
	strh	r3, [r2]	@ movhi
	ldr	r3, .L42+64
	ldrsh	r3, [r3]
	ldr	r2, .L42+88
	strh	r3, [r2, #2]	@ movhi
	ldr	r3, .L42+80
	ldrsh	r3, [r3]
	ldr	r2, .L42+88
	strh	r3, [r2, #4]	@ movhi
	ldr	r3, .L42+36
	ldr	r3, [r3]	@ float
	eor	r3, r3, #-2147483648
	mov	r0, r3
	bl	__aeabi_f2d
	mov	r2, #0
	ldr	r3, .L42+92
	bl	__aeabi_dmul
	mov	r2, r0
	mov	r3, r1
	mov	r0, r2
	mov	r1, r3
	mov	r2, #0
	ldr	r3, .L42+96
	bl	__aeabi_dcmplt
	mov	r3, r0
	cmp	r3, #0
	beq	.L40
	ldr	r3, .L42+56
	b	.L23
.L40:
	ldr	r3, .L42+36
	ldr	r3, [r3]	@ float
	eor	r3, r3, #-2147483648
	mov	r0, r3
	bl	__aeabi_f2d
	mov	r2, #0
	ldr	r3, .L42+92
	bl	__aeabi_dmul
	mov	r2, r0
	mov	r3, r1
	mov	r0, r2
	mov	r1, r3
	mov	r2, #0
	ldr	r3, .L42+100
	bl	__aeabi_dcmpgt
	mov	r3, r0
	cmp	r3, #0
	beq	.L41
	mov	r3, #9600
	b	.L23
.L41:
	ldr	r3, .L42+36
	ldr	r3, [r3]	@ float
	eor	r3, r3, #-2147483648
	mov	r0, r3
	bl	__aeabi_f2d
	mov	r2, #0
	ldr	r3, .L42+92
	bl	__aeabi_dmul
	mov	r2, r0
	mov	r3, r1
	mov	r0, r2
	mov	r1, r3
	bl	__aeabi_d2iz
	mov	r3, r0
	lsl	r3, r3, #16
	asr	r3, r3, #16
.L23:
	ldr	r2, .L42+88
	strh	r3, [r2, #10]	@ movhi
	nop
	sub	sp, fp, #8
	@ sp needed
	pop	{r4, fp, pc}
.L43:
	.align	2
.L42:
	.word	buf_ir1
	.word	buf_ir2
	.word	ir_roll_neutral
	.word	ir_roll
	.word	ir_pitch_neutral
	.word	ir_pitch
	.word	ir_estim_mode
	.word	estimator_rad_of_ir
	.word	ir_rad_of_ir
	.word	estimator_phi
	.word	estimator_theta
	.word	desired_roll
	.word	roll_pgain
	.word	-971636736
	.word	-9600
	.word	1175846912
	.word	desired_aileron
	.word	pitch_of_roll
	.word	desired_pitch
	.word	pitch_pgain
	.word	desired_elevator
	.word	desired_gaz
	.word	to_fbw
	.word	1086914560
	.word	-1060978688
	.word	1086504960
	.size	stabilisation_task, .-stabilisation_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
	@ link register save eliminated.
	str	fp, [sp, #-4]!
	add	fp, sp, #0
	ldr	r3, .L46
	mov	r2, #0
	strb	r2, [r3]
	ldr	r3, .L46+4
	mov	r2, #0
	str	r2, [r3]	@ float
	ldr	r3, .L46+8
	mov	r2, #0
	str	r2, [r3]	@ float
	ldr	r3, .L46+12
	mov	r2, #32
	strh	r2, [r3]	@ movhi
	ldr	r3, .L46+16
	mvn	r2, #31
	strh	r2, [r3]	@ movhi
	ldr	r3, .L46+20
	mov	r2, #1
	strh	r2, [r3]	@ movhi
	ldr	r3, .L46+24
	ldr	r2, .L46+28
	str	r2, [r3]	@ float
	ldr	r3, .L46+32
	mov	r2, #0
	str	r2, [r3]	@ float
	mov	r3, #0
	mov	r0, r3
	add	sp, fp, #0
	@ sp needed
	ldr	fp, [sp], #4
	bx	lr
.L47:
	.align	2
.L46:
	.word	ir_estim_mode
	.word	roll_pgain
	.word	pitch_of_roll
	.word	buf_ir1
	.word	buf_ir2
	.word	ir_roll_neutral
	.word	ir_rad_of_ir
	.word	-1082130432
	.word	pitch_pgain
	.size	main, .-main
	.ident	"GCC: (Ubuntu 9.4.0-1ubuntu1~20.04.2) 9.4.0"
	.section	.note.GNU-stack,"",%progbits
