diff --git a/archive/PPMEncoder/ap_ppm_encoder.aps b/archive/PPMEncoder/ap_ppm_encoder.aps
new file mode 100644
index 0000000000..f324a0d4a9
--- /dev/null
+++ b/archive/PPMEncoder/ap_ppm_encoder.aps
@@ -0,0 +1 @@
+<AVRStudio><MANAGEMENT><ProjectName>ap_ppm_encoder</ProjectName><Created>03-Dec-2009 19:19:14</Created><LastEdit>23-Jan-2010 22:43:53</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>03-Dec-2009 19:19:14</Created><Version>4</Version><Build>4, 17, 0, 655</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\ap_ppm_encoder.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>C:\Users\Jordi PRO\Desktop\DEV\ArduPilotMega_v10\Source\Trunk\ap_ppm_encoder\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR Simulator</CURRENT_TARGET><CURRENT_PART>ATmega328P.xml</CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM>Auto</COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><modules><module></module></modules><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>ap_ppm_encoder.c</SOURCEFILE><HEADERFILE>servo2ppm_settings.h</HEADERFILE><OTHERFILE>default\ap_ppm_encoder.lss</OTHERFILE><OTHERFILE>default\ap_ppm_encoder.map</OTHERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>NO</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE></EXTERNALMAKEFILE><PART>atmega328p</PART><HEX>1</HEX><LIST>1</LIST><MAP>1</MAP><OUTPUTFILENAME>ap_ppm_encoder.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>0</ISDIRTY><OPTIONS/><INCDIRS/><LIBDIRS/><LIBS/><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2 -std=gnu99     -DF_CPU=8000000UL -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>C:\WinAVR-20090313\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>C:\WinAVR-20090313\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><ProjectFiles><Files><Name>C:\Users\Jordi PRO\Desktop\DEV\ArduPilotMega_v10\Source\Trunk\ap_ppm_encoder\servo2ppm_settings.h</Name><Name>C:\Users\Jordi PRO\Desktop\DEV\ArduPilotMega_v10\Source\Trunk\ap_ppm_encoder\ap_ppm_encoder.c</Name></Files></ProjectFiles><IOView><usergroups/><sort sorted="0" column="0" ordername="1" orderaddress="1" ordergroup="1"/></IOView><Files><File00000><FileId>00000</FileId><FileName>ap_ppm_encoder.c</FileName><Status>259</Status></File00000><File00001><FileId>00001</FileId><FileName>servo2ppm_settings.h</FileName><Status>1</Status></File00001></Files><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio>
diff --git a/archive/PPMEncoder/ap_ppm_encoder.aws b/archive/PPMEncoder/ap_ppm_encoder.aws
new file mode 100644
index 0000000000..ac2139b58e
--- /dev/null
+++ b/archive/PPMEncoder/ap_ppm_encoder.aws
@@ -0,0 +1 @@
+<AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA328P"/><Files><File00000 Name="C:\Users\Jordi PRO\Desktop\DEV\ArduPilotMega_v10\Source\Trunk\ap_ppm_encoder\ap_ppm_encoder.c" Position="266 97 1157 411" LineCol="1016 8" State="Maximized"/><File00001 Name="C:\Users\Jordi PRO\Desktop\DEV\ArduPilotMega_v10\Source\Trunk\ap_ppm_encoder\servo2ppm_settings.h" Position="258 67 1286 518" LineCol="96 47" State="Maximized"/></Files></AVRWorkspace>
diff --git a/archive/PPMEncoder/ap_ppm_encoder.c b/archive/PPMEncoder/ap_ppm_encoder.c
new file mode 100644
index 0000000000..6e03261eb8
--- /dev/null
+++ b/archive/PPMEncoder/ap_ppm_encoder.c
@@ -0,0 +1,1287 @@
+
+/*********************************************************************************************************
+ Title  :   C  file for the rc ppm encoder (servo2ppm_v4_2.c)
+ Author:    Chris Efstathiou 
+ E-mail:    hendrix at vivodinet dot gr
+ Homepage:  ........................
+ Date:      3/Aug/2009
+ Compiler:  AVR-GCC with AVR-AS
+ MCU type:  ATmega168 
+ Comments:  This software is FREE. Use it at your own risk.
+*********************************************************************************************************/
+
+
+/********************************************************************************************************/
+/*                                   PREPROCESSOR DIRECTIVES                                            */
+/********************************************************************************************************/
+
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/wdt.h>
+#include <avr/eeprom.h>
+#include <inttypes.h>
+#include "servo2ppm_settings.h"
+
+
+
+/********************************************************************************************************/
+/*             Normaly you shouldn't need to change anything below this line but who knows?             */ 
+/********************************************************************************************************/
+
+
+
+#define RC_SERVO_PORT                 D   /* The port for the servo pulse input. */
+
+#define RC_LED_PORT                   B  /* The port for the PPM waveform and the led. */
+#define RC_LED_PIN                    0  /* The led indicator pin. */
+
+#define RC_PPM_PORT                   B
+#define RC_PPM_PIN                    2  /* The PPM waveform output pin */
+
+#define RC_MUX_PORT                   B  /* The port for the MUX controller. */
+#define RC_MUX_PIN                    1  /* The pin to control the MUX. */
+
+#define RC_SETUP_PORT                 B
+#define RC_SETUP_PIN                  4    
+
+#define RC_TIMER0_TIMSK               TIMSK0 /* Timer0 registers */
+#define RC_TIMER0_TIFR                TIFR0
+#define RC_TIMER0_PRESCALER_REG       TCCR0B
+
+#define RC_TIMER1_TIMSK               TIMSK1 /* Timer1 registers */ 
+#define RC_TIMER1_TIFR                TIFR1
+#define RC_TIMER1_PRESCALER_REG       TCCR1B
+#define RC_TIMER1_MODE_REG            TCCR1A
+#define RC_TIMER1_COMP1_REG           OCR1A
+#define RC_TIMER1_COMP2_REG           OCR1B
+
+#define RC_PIN_INT_EN_REG             PCICR
+#define RC_PIN_INT_EN_BIT             PCIE2
+#define RC_PIN_INT_FLAG_REG           PCIFR
+#define RC_PIN_INT_FLAG_BIT           PCIF2
+#define RC_PIN_INT_MASK_REG           PCMSK2
+
+#define RC_SERVO_INPUT_CHANNELS       8
+
+
+/*
+You can copy the above avr type data and edit them as needed if you plan to use
+a different avr type cpu having at least 2k bytes of flash memory.
+*/
+
+
+#define _CONCAT2_(a, b)               a ## b
+#define CONCAT2(a, b)                 _CONCAT2_(a, b)
+
+#define RC_SERVO_PORT_OUT_REG         CONCAT2(PORT, RC_SERVO_PORT)
+#define RC_SERVO_PORT_DDR_REG         CONCAT2(DDR,  RC_SERVO_PORT)
+#define RC_SERVO_PORT_PIN_REG         CONCAT2(PIN,  RC_SERVO_PORT)
+
+#define RC_LED_PORT_OUT_REG           CONCAT2(PORT, RC_LED_PORT)
+#define RC_LED_PORT_DDR_REG           CONCAT2(DDR,  RC_LED_PORT)
+#define RC_LED_PORT_PIN_REG           CONCAT2(PIN,  RC_LED_PORT)
+
+#define RC_MUX_PORT_OUT_REG           CONCAT2(PORT, RC_MUX_PORT)
+#define RC_MUX_PORT_DDR_REG           CONCAT2(DDR,  RC_MUX_PORT)
+#define RC_MUX_PORT_PIN_REG           CONCAT2(PIN,  RC_MUX_PORT)
+
+#define RC_PPM_PORT_OUT_REG           CONCAT2(PORT, RC_PPM_PORT)
+#define RC_PPM_PORT_DDR_REG           CONCAT2(DDR,  RC_PPM_PORT)
+#define RC_PPM_PORT_PIN_REG           CONCAT2(PIN,  RC_PPM_PORT)
+
+#define RC_SETUP_PORT_OUT_REG         CONCAT2(PORT, RC_SETUP_PORT)
+#define RC_SETUP_DDR_REG              CONCAT2(DDR,  RC_SETUP_PORT)
+#define RC_SETUP_PIN_REG              CONCAT2(PIN,  RC_SETUP_PORT)
+
+
+#if RC_PPM_GEN_CHANNELS > 8
+#error PPM generator max number of channels is 8 
+#endif
+#if RC_PPM_GEN_CHANNELS == 0
+#error PPM generator channels cannot be zero!
+#endif
+
+#if RC_PPM_GEN_CHANNELS < RC_SERVO_INPUT_CHANNELS
+#undef RC_SERVO_INPUT_CHANNELS
+#define RC_SERVO_INPUT_CHANNELS   RC_PPM_GEN_CHANNELS   
+#warning servo channels = PPM generator channels
+#endif
+
+#if RC_PPM_RESET_PW == 0 && RC_PPM_FRAME_LENGTH_MS == 0 
+
+#undef RC_PPM_FRAME_LENGTH_MS
+#undef RC_PPM_RESET_PW
+#define RC_PPM_RESET_PW              (23500UL - (8 * RC_SERVO_CENTER_PW))
+#define RC_PPM_FRAME_LENGTH_MS       (RC_PPM_RESET_PW + (RC_PPM_GEN_CHANNELS * RC_SERVO_CENTER_PW)) 
+
+#elif RC_PPM_FRAME_LENGTH_MS == 0 && RC_PPM_RESET_PW > 0
+
+#undef RC_PPM_FRAME_LENGTH_MS
+#define RC_PPM_FRAME_LENGTH_MS       ((RC_PPM_GEN_CHANNELS * RC_SERVO_CENTER_PW)+RC_PPM_RESET_PW)
+
+#elif RC_PPM_FRAME_LENGTH_MS > 0 && RC_PPM_RESET_PW == 0
+
+#undef RC_PPM_RESET_PW
+#define RC_PPM_RESET_PW              (RC_PPM_FRAME_LENGTH_MS -(RC_PPM_GEN_CHANNELS * RC_SERVO_CENTER_PW)) 
+
+#endif
+
+#if RC_PPM_FRAME_LENGTH_MS > 25000UL
+#warning PPM frame period exceeds 25ms 
+#endif
+
+#if RC_PPM_RESET_PW <= (5000UL + RC_PPM_CHANNEL_SYNC_PW)
+#warning PPM reset period lower than 5ms 
+#endif
+
+
+/* Search for a suitable timer prescaler. Both timers must use the same prescaling factor. */
+#if  ((F_CPU * (RC_MAX_TIMEOUT/1000))/1000) < 0xFFF0
+
+#define TIMER0_PRESCALER   1
+#define TIMER0_PRESCALER_BITS   ((0<<CS02)|(0<<CS01)|(1<<CS00))
+#warning TIMER0 PRESCALER SET TO 1
+
+#elif  (((F_CPU * (RC_PPM_FRAME_TIMEOUT/1000))/1000)/8) < 0xFFF0
+
+#define TIMER0_PRESCALER   8
+#define TIMER0_PRESCALER_BITS   ((0<<CS02)|(1<<CS01)|(0<<CS00))
+#warning TIMER0 PRESCALER SET TO 8
+
+#elif  (((F_CPU * (RC_PPM_FRAME_TIMEOUT/1000))/1000)/64) < 0xFFF0
+
+#define TIMER0_PRESCALER   64
+#define TIMER0_PRESCALER_BITS   ((0<<CS02)|(1<<CS01)|(1<<CS00))
+#warning TIMER0 PRESCALER SET TO 64
+
+#endif
+
+#define TIMER1_PRESCALER    TIMER0_PRESCALER
+
+#if TIMER1_PRESCALER == 1
+
+#define TIMER1_PRESCALER_BITS   ((0<<CS12)|(0<<CS11)|(1<<CS10))
+#warning TIMER1 PRESCALER SET TO 1
+
+#elif  TIMER1_PRESCALER == 8
+
+#define TIMER1_PRESCALER_BITS   ((0<<CS12)|(1<<CS11)|(0<<CS10))
+#warning TIMER1 PRESCALER SET TO 8
+
+#elif  TIMER1_PRESCALER == 64
+
+#define TIMER1_PRESCALER_BITS   ((0<<CS12)|(1<<CS11)|(1<<CS10))
+#warning TIMER1 PRESCALER SET TO 64
+
+#else 
+
+#error NO SUITABLE PRESCALER FOR TIMER1 FOUND!
+
+#endif
+
+/* Now that the timer prescalers are known the conversion of microseconds to timer values follows */
+#define RC_SERVO_CENTER_PW_VAL          ((((F_CPU/1000) * RC_SERVO_CENTER_PW )/1000)/TIMER0_PRESCALER) 
+#define RC_SERVO_MIN_PW_VAL             ((((F_CPU/1000) * RC_SERVO_MIN_PW)/1000)/TIMER0_PRESCALER)
+#define RC_SERVO_MAX_PW_VAL             ((((F_CPU/1000) * RC_SERVO_MAX_PW)/1000)/TIMER0_PRESCALER)
+#define RC_PPM_FRAME_TIMER_VAL          ((((F_CPU/1000) * RC_PPM_FRAME_LENGTH_MS)/1000)/TIMER1_PRESCALER) 
+#define RC_PPM_SYNC_PW_VAL              ((((F_CPU/1000) * RC_PPM_CHANNEL_SYNC_PW)/1000)/TIMER1_PRESCALER) 
+#define RC_PPM_OFF_THRESHOLD_VAL        ((((F_CPU/1000) * RC_LOST_THRESHOLD)/1000)/TIMER1_PRESCALER)
+#define RC_PPM_OFF_UPPER_WINDOW_VAL     ((((F_CPU/1000) * 1700)/1000)/TIMER1_PRESCALER) //1700 microseconds
+#define RC_PPM_OFF_LOWER_WINDOW_VAL     ((((F_CPU/1000) * 1300)/1000)/TIMER1_PRESCALER) //1300 microseconds
+#define RC_PPM_OFF_OFFSET_VAL           ((((F_CPU/1000) * RC_THROTTLE_CH_OFFSET_PW)/1000)/TIMER1_PRESCALER)
+
+#define RC_MAX_TIMEOUT_VAL              ((((((F_CPU/1000) * RC_MAX_TIMEOUT)/1000)/TIMER0_PRESCALER)/256)+1)
+#define RC_PULSE_TIMEOUT_VAL            ((((((F_CPU/1000) * RC_SERVO_MAX_PW)/1000)/TIMER0_PRESCALER)/256)+1)
+
+#define RC_FS_CH_1_TIMER_VAL            ((((F_CPU/1000) * RC_FAILSAFE_CHANNEL_1)/1000)/TIMER0_PRESCALER)
+#define RC_FS_CH_2_TIMER_VAL            ((((F_CPU/1000) * RC_FAILSAFE_CHANNEL_2)/1000)/TIMER0_PRESCALER)
+#define RC_FS_CH_3_TIMER_VAL            ((((F_CPU/1000) * RC_FAILSAFE_CHANNEL_3)/1000)/TIMER0_PRESCALER)
+#define RC_FS_CH_4_TIMER_VAL            ((((F_CPU/1000) * RC_FAILSAFE_CHANNEL_4)/1000)/TIMER0_PRESCALER)
+#define RC_FS_CH_5_TIMER_VAL            ((((F_CPU/1000) * RC_FAILSAFE_CHANNEL_5)/1000)/TIMER0_PRESCALER)
+#define RC_FS_CH_6_TIMER_VAL            ((((F_CPU/1000) * RC_FAILSAFE_CHANNEL_6)/1000)/TIMER0_PRESCALER)
+#define RC_FS_CH_7_TIMER_VAL            ((((F_CPU/1000) * RC_FAILSAFE_CHANNEL_7)/1000)/TIMER0_PRESCALER)
+#define RC_FS_CH_8_TIMER_VAL            ((((F_CPU/1000) * RC_FAILSAFE_CHANNEL_8)/1000)/TIMER0_PRESCALER)
+#define RC_RESET_PW_TIMER_VAL           ((((F_CPU/1000) * RC_PPM_RESET_PW)/1000)/TIMER1_PRESCALER) 
+
+#define RC_MUX_TIMER_VAL            ((((F_CPU/1000) * 1500)/1000)/TIMER0_PRESCALER)
+
+//#define RC_TIMER0_VAL_CORRECTION        ((RC_SERVO_CENTER_PW_VAL *100)/RC_SERVO_CENTER_PW )
+
+/* Some error checking */
+/* The timer can only count up to 65535 so the high byte can go up to 255 */
+#if (RC_MAX_TIMEOUT_VAL  > 255)
+#error RC_MAX_TIMEOUT  is set too high!
+#endif
+
+#define RC_LED_FREQUENCY_VAL		(((1000000/RC_LED_FREQUENCY)/23500)/2) //each frame is 23,5 ms
+#if RC_LED_FREQUENCY_VAL <= 0
+#undef RC_LED_FREQUENCY_VAL
+#define RC_LED_FREQUENCY_VAL	1
+#warning LED FREQUENCY set to maximum
+#endif
+
+//It is used when there is no servo signals received so the elapsed time is always RC_MAX_TIMEOUT ms.
+#define RC_LED_FREQUENCY_VAL_1HZ	(((1000000/1)/RC_MAX_TIMEOUT)/2) 
+
+/* Macro command definitions. */
+#define LED_ON()                        { RC_LED_PORT_OUT_REG |= (1<<RC_LED_PIN); }
+#define LED_OFF()                       { RC_LED_PORT_OUT_REG &= (~(1<<RC_LED_PIN)); }
+#define TOGGLE_LED()                    { RC_LED_PORT_OUT_REG ^= (1<<RC_LED_PIN); } 
+
+#define MUX_ON()                        { RC_MUX_PORT_OUT_REG |= (1<<RC_MUX_PIN); }
+#define MUX_OFF()                       { RC_MUX_PORT_OUT_REG &= (~(1<<RC_MUX_PIN)); }
+
+#define STOP_TIMER0()                   { RC_TIMER0_PRESCALER_REG = 0; } 
+#define START_TIMER0()                  { RC_TIMER0_PRESCALER_REG = TIMER0_PRESCALER_BITS; }
+#define RESET_TIMER0()                  { RC_TIMER0_TIFR |= (1<<TOIE0); TCNT0=0; timer0.timer0[1]=0; }
+#define RESET_START_TIMER0()            { STOP_TIMER0(); RESET_TIMER0(); START_TIMER0(); }  
+
+#if RC_USE_FAILSAFE > 1
+#error RC_USE_FAILSAFE can be 0 or 1
+#endif 
+#if RC_PPM_OUTPUT_TYPE > 1
+#error RC_PPM_OUTPUT_TYPE can be 0 or 1
+#endif 
+#if RC_CONSTANT_PPM_FRAME_TIME > 1
+#error RC_CONSTANT_PPM_FRAME_TIME can be 0 or 1
+#endif          
+#if RC_REDUCE_LATENCY > 1
+#error RC_REDUCE_LATENCY can be 0 or 1
+#endif 
+
+
+/********************************************************************************************************/
+/*                                   TYPE DEFINITIONS                                                   */
+/********************************************************************************************************/
+
+
+
+
+
+
+
+/********************************************************************************************************/
+/*                                   LOCAL FUNCTION PROTOTYPES                                          */
+/********************************************************************************************************/
+void initialize_mcu(void);
+void wait_for_rx(void);
+unsigned char detect_connected_channels(void);
+unsigned int get_channel_pw(unsigned char pin);
+void check_for_setup_mode(void);
+void write_default_values_to_eeprom(void);
+void load_failsafe_values(void);
+void load_values_from_eeprom(void);
+static inline void ppm_off(void);
+static inline void ppm_on(void);
+
+
+/********************************************************************************************************/
+/*                                   GLOBAL VARIABLES                                                   */
+/********************************************************************************************************/
+
+volatile unsigned int   isr_channel_pw[(RC_PPM_GEN_CHANNELS +1)]; // +1 is for the reset pulse.
+/*
+unsigned int            fs_channel_pw[8]= { RC_FS_CH_1_TIMER_VAL, RC_FS_CH_2_TIMER_VAL,
+                                            RC_FS_CH_3_TIMER_VAL, RC_FS_CH_4_TIMER_VAL,
+                                            RC_FS_CH_5_TIMER_VAL, RC_FS_CH_6_TIMER_VAL,
+                                            RC_FS_CH_7_TIMER_VAL, RC_FS_CH_8_TIMER_VAL,
+                                          };
+*/
+const char              version_info[]="Servo2ppm V4.20";
+volatile unsigned char  pin_interrupt_detected = 0;
+volatile unsigned char  isr_channel_number = 0;
+volatile unsigned int   isr_timer0_16 = 0;
+unsigned char           channels_in_use = 0;
+unsigned char           channel_mask = 0;
+
+union word2byte{
+                  volatile unsigned int timer0_16;
+                  volatile unsigned char  timer0[2];
+               } timer0;
+
+volatile unsigned int isr_timer0 = 0;
+
+#if RC_CONSTANT_PPM_FRAME_TIME == 1
+volatile unsigned int reset_pw = 0;
+#endif
+
+//unsigned char failsafe_mode = 0;
+unsigned int  ppm_off_threshold = RC_PPM_OFF_THRESHOLD_VAL;
+unsigned char rc_lost_channel = (RC_LOST_CHANNEL-1);
+//Dummy variable array in order not to use the beggining of the eeprom for usefull data.
+//The beggining of the eeprom and especially byte 0 is prone to data corruption.
+// "EEMEM" is equal to "__attribute__((section(".eeprom")))"
+unsigned int dummy_int[10] __attribute__((section(".eeprom")))= { 1, 1 ,1, 1, 1, 1, 1, 1, 1, 1 };
+unsigned int EEMEM ppm_off_threshold_e[11] = { RC_PPM_OFF_THRESHOLD_VAL, RC_PPM_OFF_THRESHOLD_VAL, RC_PPM_OFF_THRESHOLD_VAL,
+                                               RC_PPM_OFF_THRESHOLD_VAL, RC_PPM_OFF_THRESHOLD_VAL, RC_PPM_OFF_THRESHOLD_VAL,
+                                               RC_PPM_OFF_THRESHOLD_VAL, RC_PPM_OFF_THRESHOLD_VAL, RC_PPM_OFF_THRESHOLD_VAL,
+                                               RC_PPM_OFF_THRESHOLD_VAL, RC_PPM_OFF_THRESHOLD_VAL  
+                                             };
+
+unsigned char  EEMEM rc_lost_channel_e[11] = { RC_LOST_CHANNEL-1, RC_LOST_CHANNEL-1, RC_LOST_CHANNEL-1,
+                                               RC_LOST_CHANNEL-1, RC_LOST_CHANNEL-1, RC_LOST_CHANNEL-1,
+                                               RC_LOST_CHANNEL-1, RC_LOST_CHANNEL-1, RC_LOST_CHANNEL-1,
+                                               RC_LOST_CHANNEL-1, RC_LOST_CHANNEL-1  
+                                             };
+//unsigned int EEMEM ch_failsafe_pw_e[RC_PPM_GEN_CHANNELS];
+
+/********************************************************************************************************/
+/*                                   LOCAL FUNCTION DEFINITIONS                                         */
+/********************************************************************************************************/
+
+/*11111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111*/
+
+void initialize_mcu(void)
+{
+unsigned char x = 0;
+unsigned int  eep_address = 0;
+
+asm("cli");
+
+STOP_TIMER0();
+RESET_TIMER0(); 
+
+/* Enable pwm mode 15 (fast pwm with top=OCR1A) and stop the timer. */
+/* The timer compare module must be configured before the DDR register. */
+// THE PPM GENERATOR IS CONFIGURED HERE !
+#if RC_PPM_OUTPUT_TYPE == 0   // NEGATIVE PULSES
+RC_TIMER1_MODE_REG = (1<<COM1B1) | (1<<COM1B0) | (1<<WGM11) | (1<<WGM10);
+#warning PPM output type set to NEGATIVE PULSE
+#endif
+#if RC_PPM_OUTPUT_TYPE == 1   // POSITIVE PULSES
+RC_TIMER1_MODE_REG = (1<<COM1B1) | (0<<COM1B0) | (1<<WGM11) | (1<<WGM10);
+#warning PPM output type set to POSITIVE PULSE
+#endif
+RC_TIMER1_PRESCALER_REG = (1<<WGM13)|(1<<WGM12);
+RC_TIMER1_COMP1_REG = RC_RESET_PW_TIMER_VAL;
+RC_TIMER1_COMP2_REG  = RC_PPM_SYNC_PW_VAL;
+RC_TIMER1_TIMSK |= (1<<OCIE1B);
+RC_TIMER1_TIFR |= ( (1<<OCIE1B)|(1<<TOIE1) );
+
+/*Enable timer0 overflow interupt and timer1 compare B interrupt */
+RC_TIMER0_TIMSK |= (1<<TOIE0);
+RC_TIMER0_TIFR |= (1<<TOIE0);
+
+RC_LED_PORT_OUT_REG &= (~(1<<RC_LED_PIN));
+RC_LED_PORT_DDR_REG |= (1<<RC_LED_PIN);
+LED_ON();
+
+RC_MUX_PORT_OUT_REG &= (~(1<<RC_MUX_PIN));
+RC_MUX_PORT_DDR_REG |= (1<<RC_MUX_PIN);
+MUX_ON();
+
+// make the setup pin an input and activate the pull up resistor on the setup pin.
+RC_SETUP_DDR_REG &= (~(1<<RC_SETUP_PIN));
+RC_SETUP_PORT_OUT_REG |= (1<<RC_SETUP_PIN);
+
+/* configure the servo pins as inputs and activate their pull up resistors for noise reduction. */
+RC_SERVO_PORT_DDR_REG = 0;
+RC_SERVO_PORT_OUT_REG = 0xFF;
+
+isr_channel_number = RC_PPM_GEN_CHANNELS;
+rc_lost_channel = (RC_LOST_CHANNEL-1);
+ppm_off_threshold = RC_PPM_OFF_THRESHOLD_VAL;
+// VERSION CONTROL 
+x=0;
+eep_address = (E2END - (sizeof(version_info)-1));
+while(version_info[x])
+    {
+       if( (eep_address) < E2END)
+        {
+           eeprom_write_byte( (unsigned char*)eep_address, version_info[x]);
+        }
+       eep_address++;
+       x++;
+    }
+eeprom_write_byte((unsigned char*)E2END, '\0');   //Terminate the version control string. 
+
+asm("sei");
+
+/* give some time for the pull up resistors to work. ~30 ms * 3 = 90 ms */
+LED_OFF();
+RESET_START_TIMER0();
+for(x=0; x<3; x++)
+  {
+    wdt_reset();
+    RESET_TIMER0();
+    while(timer0.timer0[1] < RC_MAX_TIMEOUT_VAL ); 
+  }
+x = 0;
+STOP_TIMER0();
+RESET_TIMER0();
+LED_ON();
+/*
+The reason i configure the ppm port here is because i want to give some time
+to the timer1 compare module to initialize.
+The timer1 compare module as the Mega 168 manual states must be initialized before setting the DDR register
+of the OCR1X pins.
+*/
+//RC_PPM_PORT_OUT_REG &= (~(1<<RC_PPM_PIN));
+RC_PPM_PORT_DDR_REG |= (1<<RC_PPM_PIN);
+
+return;
+}
+
+/*11111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111*/
+/*22222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222*/
+/*
+This function waits untill the receiver has been powered up and running so we can then detect 
+the connected channels with certainty.
+*/
+#if defined(RC_RX_READY_CHANNEL) && RC_RX_READY_CHANNEL > 0
+
+void wait_for_rx(void)
+{
+unsigned int pw=0;
+unsigned char x = 0;
+unsigned char servo_connected = 0;
+
+RESET_START_TIMER0();
+servo_connected = 0;
+do{
+
+        wdt_reset(); 
+        RESET_TIMER0();
+        x=0;
+        while(timer0.timer0[1] <= RC_MAX_TIMEOUT_VAL )
+            {
+              if( (RC_SERVO_PORT_PIN_REG & (1<<(RC_RX_READY_CHANNEL-1))) ) { x=timer0.timer0[1]; }
+              if( (timer0.timer0[1] - x) >= RC_PULSE_TIMEOUT_VAL ){ servo_connected = 1; break; }
+            }
+ 
+  }while(servo_connected < 1);
+
+//Now test the found channel for a proper servo pulse.
+x = 0;
+while(1)
+    {
+       pw=get_channel_pw( (RC_RX_READY_CHANNEL-1) );
+       if( (pw > RC_SERVO_MIN_PW_VAL) && (pw < RC_SERVO_MAX_PW_VAL) ) { x++; }else{ x=0; }
+       if(x >= 3) { break; }
+    }
+
+return;
+}
+
+#else
+
+void wait_for_rx(void)
+{
+unsigned int pw=0;
+unsigned char x = 0;
+unsigned char servo_connected = 0;
+unsigned char channel = 0;
+
+RESET_START_TIMER0();
+do{
+    for(channel=0; channel < RC_SERVO_INPUT_CHANNELS; channel++)
+      {
+        wdt_reset(); 
+        RESET_TIMER0();
+        servo_connected = 0;
+        x=0;
+        while(timer0.timer0[1] <= RC_MAX_TIMEOUT_VAL )
+            {
+              if(RC_SERVO_PORT_PIN_REG & (1<<channel)) { x=timer0.timer0[1]; }
+              if( (timer0.timer0[1] - x) >= RC_PULSE_TIMEOUT_VAL ){ servo_connected = 1; break; }
+            }
+        if(servo_connected >= 1){ break; } 
+      } 
+
+  }while(servo_connected < 1);
+
+//Now test the found channel for a proper servo pulse.
+x = 0;
+while(1)
+    {
+       pw=get_channel_pw(channel);
+       if( (pw > RC_SERVO_MIN_PW_VAL) && (pw < RC_SERVO_MAX_PW_VAL) ) { x++; }else{ x=0; }
+       if(x >= 3) { break; }
+    }
+
+return;
+}
+#endif
+
+/*22222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222*/
+/*33333333333333333333333333333333333333333333333333333333333333333333333333333333333333333333333333*/
+
+unsigned char detect_connected_channels(void)
+{
+unsigned char channel=0;
+unsigned char servo_connected = 0;
+unsigned char connected_channels = 0;
+unsigned char x = 0;
+unsigned char y = 0;
+#if defined(RC_RX_READY_CHANNEL) && RC_RX_READY_CHANNEL > 0
+unsigned int pw = 0;
+#endif
+
+/* 
+There must be no error in which channels are connected to the encoder
+because this will have devastating effects later on.
+*/
+wdt_reset(); 
+RESET_START_TIMER0();
+
+      for(channel=0; channel < RC_SERVO_INPUT_CHANNELS; channel++)
+        {
+           servo_connected = 0;
+           for(y=0; y<5; y++)
+             {
+                wdt_reset(); 
+                RESET_TIMER0();
+                x=0;
+                while(timer0.timer0[1] <= RC_MAX_TIMEOUT_VAL )
+                    {
+                      if(RC_SERVO_PORT_PIN_REG & (1<<channel)) { x=timer0.timer0[1]; }
+                      if( (timer0.timer0[1] - x) >= RC_PULSE_TIMEOUT_VAL ){ servo_connected++; break; }
+                    }
+                if(servo_connected >= 3){ channel_mask |= (1<<channel); connected_channels++; break; } 
+             }
+        } 
+#if defined(RC_RX_READY_CHANNEL) && RC_RX_READY_CHANNEL > 0
+
+connected_channels = 0;
+for(channel=0; channel < RC_SERVO_INPUT_CHANNELS; channel++)
+  {
+    if(channel_mask & (1<<channel) )
+     { 
+        pw=get_channel_pw(channel);
+        if(pw < RC_SERVO_MIN_PW_VAL || pw > RC_SERVO_MAX_PW_VAL)
+         {
+            channel_mask &= (~(1<<channel));
+         }else{ connected_channels++; }
+     }
+  }
+#endif
+
+return(connected_channels);
+}
+
+/*33333333333333333333333333333333333333333333333333333333333333333333333333333333333333333333333333*/
+/*44444444444444444444444444444444444444444444444444444444444444444444444444444444444444444444444444*/
+
+void write_default_values_to_eeprom(void)
+{
+
+unsigned char x = 0;
+
+for(x=0; x<(sizeof(ppm_off_threshold_e)/sizeof(int)); x++)
+  { 
+     eeprom_write_word(&ppm_off_threshold_e[x], RC_PPM_OFF_THRESHOLD_VAL);
+  }
+for(x=0; x < (sizeof(rc_lost_channel_e)/sizeof(char)); x++)
+  { 
+     eeprom_write_byte(&rc_lost_channel_e[x], (RC_LOST_CHANNEL - 1));
+  }  
+rc_lost_channel = (RC_LOST_CHANNEL - 1);
+ppm_off_threshold = RC_PPM_OFF_THRESHOLD_VAL;
+
+return;
+}
+
+/*44444444444444444444444444444444444444444444444444444444444444444444444444444444444444444444444444*/
+/*55555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555*/
+
+/*
+All this code because the Eeprom is prone to data corruption in noisy environments.
+11 copies of each variable are read and if more than 50% + 1 values are the same and within limits
+this value is taken to be valid.
+If not all 11 values are the same then the array is written again with this 50% +1 value. 
+*/
+void load_values_from_eeprom(void)
+{
+unsigned int  eeprom_buf_x = 0;
+unsigned int  eeprom_buf_y = 0;
+unsigned char match = 0;
+unsigned char match_upper_limit = 0;
+unsigned char match_lower_limit = 0;
+unsigned char x = 0;
+unsigned char y = 0;
+
+wdt_reset();
+
+/****************************************************************************************************/
+/*                 READ WHICH CHANNEL WILL BE USED AS A RX LOST INDICATOR                           */
+/****************************************************************************************************/ 
+match_upper_limit = (sizeof(rc_lost_channel_e)/sizeof(char));
+match_lower_limit = (((sizeof(rc_lost_channel_e)/sizeof(char))/2)+1);
+
+for(x=0; x<match_upper_limit; x++)
+  {
+    match = 0;
+    eeprom_buf_x = eeprom_read_byte(&rc_lost_channel_e[x]); 
+    for(y=0; y<match_upper_limit; y++)
+      {
+         eeprom_buf_y = eeprom_read_byte(&rc_lost_channel_e[y]);
+         if(eeprom_buf_y == eeprom_buf_x){ match++; }
+      }
+    // If 50% +1 or more char values in the array are the same a match has been found. 
+    // Now test them to see if they are within limits.
+    if(match >= match_lower_limit )
+     {
+        if( eeprom_buf_x < RC_SERVO_INPUT_CHANNELS )
+         {
+           rc_lost_channel = eeprom_buf_x; //Load the stored value to throttle_thershold.
+           if(match < match_upper_limit)
+            {
+               for(x=0; x<match_upper_limit; x++)
+                 {
+                    eeprom_write_byte(&rc_lost_channel_e[x], eeprom_buf_x); 
+                 }
+            }
+
+         }else{ match = 0; }
+        break;
+     }
+  }
+
+if( match < match_lower_limit ){ write_default_values_to_eeprom();  return; }
+
+/****************************************************************************************************/
+/*             NOW READ THE CHANNEL'S PULSE WIDTH SO IT CAN BE USED AS A TRIGGER                    */
+/****************************************************************************************************/ 
+match_upper_limit = (sizeof(ppm_off_threshold_e)/sizeof(int));
+match_lower_limit = (((sizeof(ppm_off_threshold_e)/sizeof(int))/2)+1);
+
+for(x=0; x < match_upper_limit; x++)
+  {
+    match = 0;
+    eeprom_buf_x = eeprom_read_word(&ppm_off_threshold_e[x]); 
+    for(y=0; y < match_upper_limit; y++)
+      {
+         eeprom_buf_y = eeprom_read_word(&ppm_off_threshold_e[y]);
+         if(eeprom_buf_y == eeprom_buf_x){ match++; }
+      }
+    // If 50% +1 or more integer values in the array are the same a match has been found. 
+    // Now test them to see if they are within limits.
+    if(match >= match_lower_limit )
+     {
+        if( (eeprom_buf_x >= RC_PPM_OFF_UPPER_WINDOW_VAL) && (eeprom_buf_x <= RC_SERVO_MAX_PW_VAL) )
+         {
+            ppm_off_threshold = eeprom_buf_x; //Load the stored value to throttle_thershold.
+            if(match < match_upper_limit)
+             {
+               for(x=0; x < match_upper_limit; x++){ eeprom_write_word(&ppm_off_threshold_e[x], eeprom_buf_x); }
+             }
+        
+          }else if( (eeprom_buf_x <= RC_PPM_OFF_LOWER_WINDOW_VAL) && (eeprom_buf_x >= RC_SERVO_MIN_PW_VAL) )
+                 {
+                    ppm_off_threshold = eeprom_buf_x; //Load the stored value to throttle_thershold.
+                    if(match < match_upper_limit)
+                     {
+                       for(x=0; x < match_upper_limit; x++){ eeprom_write_word(&ppm_off_threshold_e[x], eeprom_buf_x); }
+                     }
+
+                 }else{ match = 0; }
+        break;
+     }
+  }
+
+if( match < match_lower_limit ){ write_default_values_to_eeprom();  return; }
+
+
+return;
+}
+
+/*55555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555555*/
+/*66666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666*/
+
+unsigned int get_channel_pw(unsigned char pin)
+{
+
+unsigned int  pw = 0;
+unsigned char pw_measurement_started = 0;
+
+wdt_reset();
+/* The servo input pins are already configured as inputs with pullup resistors. */ 
+// First we must disable the pin interrupt. 
+RC_PIN_INT_EN_REG &= (~(1<<RC_PIN_INT_EN_BIT));
+//Now we must load the pin interrupt mask register.
+RC_PIN_INT_MASK_REG = (1<<pin);
+//Clear any pin interrupt flag set. 
+RC_PIN_INT_FLAG_REG |= (1<<RC_PIN_INT_FLAG_BIT);
+// Clear the pin interrupt ISR detection variable
+pin_interrupt_detected = 0;
+// Finally we can enable the pin interrupt again. 
+RC_PIN_INT_EN_REG |= (1<<RC_PIN_INT_EN_BIT); 
+// Set and start timer1
+RESET_START_TIMER0();
+
+while(1)
+    {  
+       /* Wait until the pin change state. */
+       do{  
+           if( timer0.timer0[1] >=  RC_MAX_TIMEOUT_VAL )
+            { 
+              return(0);
+            }
+                 
+         }while( pin_interrupt_detected == 0 );
+         pin_interrupt_detected = 0; 
+         if( RC_SERVO_PORT_PIN_REG & (1<<pin) ) /* if the pin is high then give it a time stamp */ 
+          {
+             pw = isr_timer0_16;
+             pw_measurement_started = 1;        /* signal that this channel got it's timer stamp.*/
+                                       
+          }else{ 
+                  // If the pin is low and it already has a time stamp then we are done.
+                  if( pw_measurement_started )
+                   {
+                      pw = isr_timer0_16 - pw;
+                      break;
+                   }
+               }
+    }  
+
+/*Stop the timer */
+STOP_TIMER0(); 
+RESET_TIMER0();
+   
+return((unsigned int)pw);   
+}  
+
+/*66666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666*/
+/*77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777*/
+
+void check_for_setup_mode(void)
+{
+unsigned int  pw_buffer = 0;
+unsigned int  pw = 0;
+unsigned char setup_mode = 0;
+unsigned char success = 0;
+unsigned char x = 0;
+unsigned char y = 0;
+
+
+//We have to make sure that the setup mode is requested.  
+wdt_reset();
+x=0;
+y=0;
+setup_mode = 1;
+RESET_START_TIMER0();
+do{
+    if( (RC_SETUP_PIN_REG & (1<<RC_SETUP_PIN)) == 0){ x++; }else{ x=0; }
+      {
+         if(timer0.timer0[1] > RC_MAX_TIMEOUT_VAL ){setup_mode = 0; break; } 
+      }
+
+  }while(x < 100);
+
+if(setup_mode)
+ {
+/****************************************************************************************************/
+/*             FIRST WE MUST FIND WHICH CHANNEL WILL BE USED AS A TX SIGNAL LOST INDICATOR          */
+/****************************************************************************************************/
+     wdt_reset();
+     success = 0;
+     if(channels_in_use > 1 )
+      {
+         if( channel_mask & (1<<(RC_LOST_CHANNEL - 1)) )
+          { 
+             rc_lost_channel = (RC_LOST_CHANNEL - 1); 
+             for(x=0; x < (sizeof(rc_lost_channel_e)/sizeof(char)); x++)
+               { 
+                  eeprom_write_byte(&rc_lost_channel_e[x], rc_lost_channel);
+               } 
+             success += 1;
+          }
+ 
+      }else if(channels_in_use == 1)
+             {
+               for(x=0; x < RC_SERVO_INPUT_CHANNELS; x++)
+                 {
+                   if(channel_mask & (1<<x))
+                    { 
+                       rc_lost_channel = x;
+                       for(x=0; x < (sizeof(rc_lost_channel_e)/sizeof(char)); x++)
+                         { 
+                            eeprom_write_byte(&rc_lost_channel_e[x], rc_lost_channel);
+                         } 
+                       success += 1;
+                       break;
+                    }
+                 }
+             }
+
+
+/****************************************************************************************************/
+/*   NOW WE NEED TO FIND THE THRESHOLD PULSE WIDTH THAT WILL BE USED AN A TX SIGNAL LOST TRIGGER    */
+/****************************************************************************************************/
+     if(success == 1)
+      {
+         wdt_reset();
+         y = 0;
+         pw_buffer = 0;
+         for(x=0; x < 10; x++)
+           {
+              pw=get_channel_pw(rc_lost_channel);
+              if(pw >= RC_SERVO_MIN_PW_VAL && pw <= RC_SERVO_MAX_PW_VAL)
+               {
+                  pw_buffer += pw;
+                  y++;        
+               }
+           }
+         pw_buffer /= y;
+         wdt_reset();
+         if( (pw_buffer >= RC_PPM_OFF_UPPER_WINDOW_VAL) && (pw_buffer <= RC_SERVO_MAX_PW_VAL) )
+          {
+             for(x=0; x<(sizeof(ppm_off_threshold_e)/sizeof(int)); x++)
+               { 
+                 eeprom_write_word(&ppm_off_threshold_e[x], (pw_buffer+RC_PPM_OFF_OFFSET_VAL));
+               } 
+             success += 1;
+
+         }else if( (pw_buffer <= RC_PPM_OFF_LOWER_WINDOW_VAL) && (pw_buffer >= RC_SERVO_MIN_PW_VAL) )
+                {
+                   for(x=0; x<(sizeof(ppm_off_threshold_e)/sizeof(int)); x++)
+                     { 
+                       eeprom_write_word(&ppm_off_threshold_e[x], (pw_buffer-RC_PPM_OFF_OFFSET_VAL));
+                     } 
+                   success += 1;
+                }
+
+      }
+           
+/****************************************************************************************************/
+/*            LASTLY WE MUST INDICATE TO THE USER IF THE SETUP PROCEDURE WAS SUCCESSFUL             */
+/****************************************************************************************************/     
+     if(success == 2)
+      { 
+        RC_SETUP_PORT_OUT_REG &= (~(1<<RC_SETUP_PIN));
+        while(1)
+            {
+              LED_ON(); 
+              for(x=0; x<3; x++)
+                 {
+                   wdt_reset();
+                   RESET_START_TIMER0();
+                   /* delay ~30 ms * 3  = 100 milliseconds */
+                   while(timer0.timer0[1] < RC_MAX_TIMEOUT_VAL ); 
+                 }
+               LED_OFF();
+               for(x=0; x<30; x++)
+                 {
+                   wdt_reset();
+                   RESET_START_TIMER0();
+                   /* delay ~30 ms * 30  = 900 milliseconds */
+                   while(timer0.timer0[1] < RC_MAX_TIMEOUT_VAL ); 
+                 }
+            }
+
+      }else{ 
+              write_default_values_to_eeprom();
+              while(1)
+                  {
+                     LED_ON(); 
+                     for(x=0; x<30; x++)
+                       {
+                         wdt_reset();
+                         RESET_START_TIMER0();
+                         /* delay ~30 ms * 30  = 900 milliseconds */
+                         while(timer0.timer0[1] < RC_MAX_TIMEOUT_VAL ); 
+                       }
+                     LED_OFF();
+                     for(x=0; x<3; x++)
+                       {
+                          wdt_reset();
+                          RESET_START_TIMER0();
+                          /* delay ~30 ms * 3  = 100 milliseconds */
+                          while(timer0.timer0[1] < RC_MAX_TIMEOUT_VAL ); 
+                       }
+                  }
+           }
+
+ } // End of "if(setup_mode)" statement.
+
+return;
+}
+
+/*77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777*/
+/*88888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888*/
+
+void load_failsafe_values(void)
+{
+wdt_reset();
+isr_channel_pw[0] = RC_FS_CH_1_TIMER_VAL;
+#if   RC_PPM_GEN_CHANNELS >= 2
+isr_channel_pw[1] = RC_FS_CH_2_TIMER_VAL;
+#endif
+#if RC_PPM_GEN_CHANNELS >= 3
+isr_channel_pw[2] = RC_FS_CH_3_TIMER_VAL;
+#endif
+#if RC_PPM_GEN_CHANNELS >= 4
+isr_channel_pw[3] = RC_FS_CH_4_TIMER_VAL;
+#endif
+#if RC_PPM_GEN_CHANNELS >= 5
+isr_channel_pw[4] = RC_FS_CH_5_TIMER_VAL;
+#endif
+#if RC_PPM_GEN_CHANNELS >= 6
+isr_channel_pw[5] = RC_FS_CH_6_TIMER_VAL;
+#endif
+#if RC_PPM_GEN_CHANNELS >= 7
+isr_channel_pw[6] = RC_FS_CH_7_TIMER_VAL;
+#endif
+#if RC_PPM_GEN_CHANNELS >= 8
+isr_channel_pw[7] = RC_FS_CH_8_TIMER_VAL;
+#endif
+#if RC_PPM_GEN_CHANNELS >= 9
+isr_channel_pw[8] = RC_FS_CH_8_TIMER_VAL;
+#endif
+isr_channel_pw[RC_PPM_GEN_CHANNELS] = RC_RESET_PW_TIMER_VAL;
+
+
+return;
+} 
+/*
+void load_failsafe_values(void)
+{
+unsigned char x = 0;
+
+for(x=0; x< RC_PPM_GEN_CHANNELS; x++)
+  {
+    isr_channel_pw[x] = fs_channel_pw[x];
+  }
+
+// LOAD THE PPM FRAME RESET PULSE WIDTH.
+isr_channel_pw[RC_PPM_GEN_CHANNELS] = RC_RESET_PW_TIMER_VAL;
+
+
+return;
+
+} 
+*/
+
+/*88888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888*/
+/*99999999999999999999999999999999999999999999999999999999999999999999999999999999999999999999999999*/
+
+
+static inline void ppm_on(void)
+{
+
+   RC_TIMER1_PRESCALER_REG  &= (~(TIMER1_PRESCALER_BITS));	
+   TCNT1 = 0; 
+   isr_channel_number = RC_PPM_GEN_CHANNELS;		
+   RC_TIMER1_COMP1_REG = RC_RESET_PW_TIMER_VAL;
+   RC_TIMER1_COMP2_REG = RC_PPM_SYNC_PW_VAL;	
+   RC_TIMER1_TIFR |= ( (1<<OCIE1B)|(1<<TOIE1) );			
+   RC_TIMER1_PRESCALER_REG |= TIMER1_PRESCALER_BITS;
+
+return;
+}
+
+/*99999999999999999999999999999999999999999999999999999999999999999999999999999999999999999999999999*/
+/*10101010101010101010101010101010101010101010101010101010101010101010101010101010101010101010101010*/
+
+static inline void ppm_off(void)
+{
+   if(RC_TIMER1_PRESCALER_REG & TIMER1_PRESCALER_BITS)
+    {
+      while( TCNT1 <= (RC_PPM_SYNC_PW_VAL+(RC_PPM_SYNC_PW_VAL / 10)) );
+    } 
+   RC_TIMER1_PRESCALER_REG &= (~(TIMER1_PRESCALER_BITS));   
+   RC_TIMER1_TIFR |= ( (1<<OCIE1B)|(1<<TOIE1) ); 
+
+return;
+}
+
+/*11111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111*/
+/*12121212121212121212121212121212121212121212121212121212121212121212121212121212121212121212121212*/
+
+
+void mux_control(void)
+{
+long PULSE_WIDTH = isr_channel_pw[RC_MUX_CHANNEL-1];
+
+#if RC_MUX_REVERSE == 0
+
+	if((PULSE_WIDTH>RC_MUX_MIN)&&(PULSE_WIDTH<RC_MUX_MAX))
+	{
+		MUX_ON();
+	}
+	else
+	{
+		MUX_OFF();
+	}
+
+#else
+
+	if((PULSE_WIDTH>RC_MUX_MIN)&&(PULSE_WIDTH<RC_MUX_MAX))
+	{
+		MUX_OFF();
+	}
+	else
+	{
+		MUX_ON();
+	}
+#endif
+}
+
+
+/********************************************************************************************************/
+/*                                         MAIN FUNCTION                                                */
+/********************************************************************************************************/
+__attribute__((noreturn)) void main(void)
+{
+
+//Variables for the servo channel measuring code.
+unsigned short pw_of_channel[RC_SERVO_INPUT_CHANNELS];
+unsigned char  channel_mask_buffer = 0;
+unsigned char  pin_reg_buffer0 = 0;
+unsigned char  pin_reg_buffer1 = 0;
+unsigned char  channels_to_check=0;
+unsigned char  channel_status = 0;
+unsigned short timer0_buffer = 0;
+unsigned char  x = 0;
+unsigned char  y = 0;
+//Variables for the PPM control code.
+unsigned char  tx_signal_lost = 0;
+unsigned char  tx_signal_detected = 0;
+unsigned char  servo_signals_lost = 0;
+unsigned char  led_frequency = 0;
+unsigned char  led_counter = 0;
+
+wdt_disable();
+wdt_enable(WDTO_120MS);
+wdt_reset();
+
+initialize_mcu(); 
+/*Load the values stored in the eeprom like the throttle channel threshold etc. */
+load_values_from_eeprom();  
+//Load the ISR array. This way if a channel is not connected it will have the failsafe value.
+load_failsafe_values(); 
+/*
+The "wait_for_rx(): function waits untill the receiver has been powered up and running
+so we can then detect the connected channels with certainty.
+*/
+wait_for_rx(); 
+channels_in_use = detect_connected_channels();
+check_for_setup_mode();
+servo_signals_lost = 1;   //Signal that the servo signals have gone missing(no rx signal).
+led_frequency = RC_LED_FREQUENCY_VAL_1HZ; //load the defined led frequency.
+
+/****************************  SETUP THE PIN INTERRUPT  *************************************************/
+
+// Now we must disable the pin interrupt. 
+RC_PIN_INT_EN_REG &= (~(1<<RC_PIN_INT_EN_BIT));
+//Now we must load the pin interrupt mask register.
+RC_PIN_INT_MASK_REG = channel_mask;
+//Clear any pin interrupt flag set. 
+RC_PIN_INT_FLAG_REG |= (1<<RC_PIN_INT_FLAG_BIT);
+// Clear the pin interrupt ISR detection variable
+pin_interrupt_detected = 0;
+// Finally we can enable the pin interrupt again. 
+RC_PIN_INT_EN_REG |= (1<<RC_PIN_INT_EN_BIT); 
+// Set and start timer1
+RESET_START_TIMER0();
+// Take a snapshot of the servo pins in order to establish a starting point.
+pin_reg_buffer1 = (RC_SERVO_PORT_PIN_REG & channel_mask);
+RESET_START_TIMER0();
+//Main endless loop.
+while(1)
+    {
+       wdt_reset();
+       channel_mask_buffer = channel_mask;
+       RESET_TIMER0(); 
+       while(channel_mask_buffer)
+           { 
+              /* Wait until a pin change state. */
+              do{  
+                   if( timer0.timer0[1] >=  RC_MAX_TIMEOUT_VAL )
+                    { 
+                      goto PPM_CONTROL;
+                    }
+                 
+                }while( pin_interrupt_detected == 0 );
+              x=0;
+              y=1;
+              //Only pins that changed their state will be tested for a high or low level
+              pin_reg_buffer0 = (RC_SERVO_PORT_PIN_REG & channel_mask_buffer);
+              pin_interrupt_detected = 0;
+              channels_to_check = pin_reg_buffer1 ^ pin_reg_buffer0;
+              pin_reg_buffer1 = pin_reg_buffer0; 
+              while(x<RC_SERVO_INPUT_CHANNELS)
+                  {
+                     if(channels_to_check & y)
+                      {
+                         if( (pin_reg_buffer0 & y) ) /* if the pin is high then... */ 
+                          {
+                             pw_of_channel[x] = isr_timer0_16;
+                             channel_status |= y; /* signal that this channel got it's timer stamp. */
+                                        
+                          }else{
+                                 if( channel_status & y )
+                                  {
+                                     channel_mask_buffer &= (~y);
+                                     timer0_buffer = isr_timer0_16 - pw_of_channel[x];
+                                     if( (timer0_buffer > RC_SERVO_MIN_PW_VAL) && (timer0_buffer < RC_SERVO_MAX_PW_VAL) )
+                                      { 
+#if defined(RC_LOST_CHANNEL) && RC_LOST_CHANNEL > 0
+                                         if(x == rc_lost_channel)
+                                          {
+                                             if(ppm_off_threshold > RC_SERVO_CENTER_PW_VAL)
+                                              { 
+                                                 if(timer0_buffer >= ppm_off_threshold)
+                                                  {
+                                                     channel_mask_buffer = 0xFF; 
+                                                     goto PPM_CONTROL; 
+                                                  }
+
+                                              }else{
+                                                      if(timer0_buffer <= ppm_off_threshold)
+                                                       { 
+                                                          channel_mask_buffer = 0xFF; 
+                                                          goto PPM_CONTROL;
+                                                       }
+                                                   }
+                                          }
+#endif
+                                         if(servo_signals_lost == 0)
+                                          {
+                                             asm("cli"); //Atomic operation needed here.
+                                             isr_channel_pw[x] = timer0_buffer; 
+                                             asm("sei");
+                                          }
+
+                                      } // End of " if( (timer0_buffer > RC_SERVO_MIN_PW_VAL) && ..." statement. 
+                                  }  // End of "if( channel_status & y )" statement.            
+ 
+                               }   // End of "if( (pin_reg_buffer0 & y) )...else..." statement         
+                      }	// End of "if(channels_to_check & y)" statement.
+                   x++;
+                   y=(y<<1);
+              }
+ 
+           }	// End of "while(channel_mask_buffer)" loop.
+PPM_CONTROL:
+ 
+       led_counter++;
+       if( led_counter >= led_frequency ){ led_counter = 0; TOGGLE_LED();  }
+
+//We need 'RC_MAX_BAD_PPM_FRAMES" consecutive readings in order to change the PPM generator's status.
+       if( channel_mask_buffer == 0  ) //IF ALL CHANNELS HAVE BEEN MEASURED...
+        {
+           tx_signal_lost = 0;         
+           if(servo_signals_lost == 1) //IF PREVIOUSLY THE SERVO SIGNAL WAS LOST...
+            {
+              tx_signal_detected++;
+              if(tx_signal_detected > RC_MAX_BAD_PPM_FRAMES)
+               {
+                 ppm_on();
+                 servo_signals_lost = 0;
+                 LED_ON();
+                 led_counter = 0;
+                 led_frequency = RC_LED_FREQUENCY_VAL;
+               }
+            }
+        }
+       else{  //IF NOT ALL CHANNELS HAVE BEEN MEASURED...
+              pin_reg_buffer1 = (RC_SERVO_PORT_PIN_REG & channel_mask);
+              tx_signal_detected = 0;
+              if(servo_signals_lost == 0)
+               {
+		   tx_signal_lost++;
+                   if(tx_signal_lost > RC_MAX_BAD_PPM_FRAMES)
+                    { 
+                       servo_signals_lost = 1;
+                       led_counter = 0;
+                       led_frequency = RC_LED_FREQUENCY_VAL_1HZ;
+#if defined(RC_USE_FAILSAFE) && RC_USE_FAILSAFE == 1
+                       load_failsafe_values();
+#else
+                       ppm_off();
+#endif
+                    } 
+               } //end of if(servo_signals_lost == 0) statement.
+           } //end of if( x > (channels_in_use/2)  ){...}else{...} statement.
+
+
+mux_control();
+
+    } //end of while(1) loop.      
+  
+}
+
+/********************************************************************************************************/
+/*                                   INTERRUPT SERVICE ROUTINES                                         */
+/********************************************************************************************************/
+
+//ISR(TIMER0_OVF_vect, ISR_NAKED)
+ISR(TIMER0_OVF_vect)
+{
+timer0.timer0[1]++;
+
+return;
+}  
+
+/********************************************************************************************************/
+/*
+By using the fast pwm mode 15 which uses the OCR1A value as TOP value and changing the values within the
+OCR1B interrupt, timing is very accurate because the OCR1A and OCR1B registers are double buffered.
+This means that although it looks like we modify both registers within the OCR1B interrupt we are actually
+modifying their buffers and not the actual registers.
+Both actual registers are updated when the timer reaches the OCR1A (TOP) value automatically.
+This way the OCR1B interrupt can be delayed as needed without any loss of timing accuracy.
+*/
+ISR(TIMER1_COMPB_vect)
+{
+asm("sei");
+#if RC_CONSTANT_PPM_FRAME_TIME == 1
+isr_channel_number++;
+if( isr_channel_number >= (RC_PPM_GEN_CHANNELS + 1) ) {isr_channel_number = 0; reset_pw = RC_PPM_FRAME_TIMER_VAL; }
+
+if(isr_channel_number < RC_PPM_GEN_CHANNELS)
+ {
+    RC_TIMER1_COMP1_REG = isr_channel_pw[isr_channel_number];
+    reset_pw -= RC_TIMER1_COMP1_REG;
+
+ }else{
+             RC_TIMER1_COMP1_REG = reset_pw;
+      } 
+
+#endif
+#if RC_CONSTANT_PPM_FRAME_TIME == 0
+
+isr_channel_number++;
+if( isr_channel_number >= (RC_PPM_GEN_CHANNELS + 1) ) {isr_channel_number = 0; }
+ RC_TIMER1_COMP1_REG = isr_channel_pw[isr_channel_number];
+
+#endif
+
+return;
+}
+
+/********************************************************************************************************/
+
+ISR(PCINT2_vect)
+{                       
+
+timer0.timer0[0]= TCNT0;
+if( RC_TIMER0_TIFR & (1<<TOIE0) ){RC_TIMER0_TIFR |= (1<<TOIE0); timer0.timer0[1]++; timer0.timer0[0]= 0; } 
+isr_timer0_16 = timer0.timer0_16;
+pin_interrupt_detected = 1;
+
+
+return;
+}  
+
+/********************************************************************************************************/
+/* 
+ISR(TIMER1_OVF_vect)
+{                       
+
+
+
+
+return;
+}  
+*/
+
+
+
+/*######################################################################################################*/
+/*                                         T H E   E N D                                                */
+/*######################################################################################################*/
+
diff --git a/archive/PPMEncoder/default/Makefile b/archive/PPMEncoder/default/Makefile
new file mode 100644
index 0000000000..98ec4d3b3f
--- /dev/null
+++ b/archive/PPMEncoder/default/Makefile
@@ -0,0 +1,77 @@
+###############################################################################
+# Makefile for the project ap_ppm_encoder
+###############################################################################
+
+## General Flags
+PROJECT = ap_ppm_encoder
+MCU = atmega328p
+TARGET = ap_ppm_encoder.elf
+CC = avr-gcc
+
+CPP = avr-g++
+
+## Options common to compile, link and assembly rules
+COMMON = -mmcu=$(MCU)
+
+## Compile options common for all C compilation units.
+CFLAGS = $(COMMON)
+CFLAGS += -Wall -gdwarf-2 -std=gnu99     -DF_CPU=8000000UL -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
+CFLAGS += -MD -MP -MT $(*F).o -MF dep/$(@F).d 
+
+## Assembly specific flags
+ASMFLAGS = $(COMMON)
+ASMFLAGS += $(CFLAGS)
+ASMFLAGS += -x assembler-with-cpp -Wa,-gdwarf2
+
+## Linker flags
+LDFLAGS = $(COMMON)
+LDFLAGS +=  -Wl,-Map=ap_ppm_encoder.map
+
+
+## Intel Hex file production flags
+HEX_FLASH_FLAGS = -R .eeprom -R .fuse -R .lock -R .signature
+
+HEX_EEPROM_FLAGS = -j .eeprom
+HEX_EEPROM_FLAGS += --set-section-flags=.eeprom="alloc,load"
+HEX_EEPROM_FLAGS += --change-section-lma .eeprom=0 --no-change-warnings
+
+
+## Objects that must be built in order to link
+OBJECTS = ap_ppm_encoder.o 
+
+## Objects explicitly added by the user
+LINKONLYOBJECTS = 
+
+## Build
+all: $(TARGET) ap_ppm_encoder.hex ap_ppm_encoder.eep ap_ppm_encoder.lss size
+
+## Compile
+ap_ppm_encoder.o: ../ap_ppm_encoder.c
+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+##Link
+$(TARGET): $(OBJECTS)
+	 $(CC) $(LDFLAGS) $(OBJECTS) $(LINKONLYOBJECTS) $(LIBDIRS) $(LIBS) -o $(TARGET)
+
+%.hex: $(TARGET)
+	avr-objcopy -O ihex $(HEX_FLASH_FLAGS)  $< $@
+
+%.eep: $(TARGET)
+	-avr-objcopy $(HEX_EEPROM_FLAGS) -O ihex $< $@ || exit 0
+
+%.lss: $(TARGET)
+	avr-objdump -h -S $< > $@
+
+size: ${TARGET}
+	@echo
+	@avr-size -C --mcu=${MCU} ${TARGET}
+
+## Clean target
+.PHONY: clean
+clean:
+	-rm -rf $(OBJECTS) ap_ppm_encoder.elf dep/* ap_ppm_encoder.hex ap_ppm_encoder.eep ap_ppm_encoder.lss ap_ppm_encoder.map
+
+
+## Other dependencies
+-include $(shell mkdir dep 2>/dev/null) $(wildcard dep/*)
+
diff --git a/archive/PPMEncoder/default/ap_ppm_encoder.eep b/archive/PPMEncoder/default/ap_ppm_encoder.eep
new file mode 100644
index 0000000000..cd488d1e5f
--- /dev/null
+++ b/archive/PPMEncoder/default/ap_ppm_encoder.eep
@@ -0,0 +1,5 @@
+:1000000001000100010001000100010001000100E8
+:1000100001000100E907E907E907E907E907E9073E
+:10002000E907E907E907E907E90702020202020214
+:050030000202020202C1
+:00000001FF
diff --git a/archive/PPMEncoder/default/ap_ppm_encoder.elf b/archive/PPMEncoder/default/ap_ppm_encoder.elf
new file mode 100644
index 0000000000..4ee1ca8525
Binary files /dev/null and b/archive/PPMEncoder/default/ap_ppm_encoder.elf differ
diff --git a/archive/PPMEncoder/default/ap_ppm_encoder.lss b/archive/PPMEncoder/default/ap_ppm_encoder.lss
new file mode 100644
index 0000000000..e67f4bdffe
--- /dev/null
+++ b/archive/PPMEncoder/default/ap_ppm_encoder.lss
@@ -0,0 +1,2636 @@
+
+ap_ppm_encoder.elf:     file format elf32-avr
+
+Sections:
+Idx Name          Size      VMA       LMA       File off  Algn
+  0 .data         00000014  00800100  00000c1e  00000cd2  2**0
+                  CONTENTS, ALLOC, LOAD, DATA
+  1 .text         00000c1e  00000000  00000000  000000b4  2**1
+                  CONTENTS, ALLOC, LOAD, READONLY, CODE
+  2 .bss          0000001c  00800114  00800114  00000ce6  2**0
+                  ALLOC
+  3 .eeprom       00000035  00810000  00810000  00000ce6  2**0
+                  CONTENTS, ALLOC, LOAD, DATA
+  4 .debug_aranges 00000020  00000000  00000000  00000d1b  2**0
+                  CONTENTS, READONLY, DEBUGGING
+  5 .debug_pubnames 0000022c  00000000  00000000  00000d3b  2**0
+                  CONTENTS, READONLY, DEBUGGING
+  6 .debug_info   00000914  00000000  00000000  00000f67  2**0
+                  CONTENTS, READONLY, DEBUGGING
+  7 .debug_abbrev 00000262  00000000  00000000  0000187b  2**0
+                  CONTENTS, READONLY, DEBUGGING
+  8 .debug_line   00000c94  00000000  00000000  00001add  2**0
+                  CONTENTS, READONLY, DEBUGGING
+  9 .debug_frame  00000100  00000000  00000000  00002774  2**2
+                  CONTENTS, READONLY, DEBUGGING
+ 10 .debug_str    0000043c  00000000  00000000  00002874  2**0
+                  CONTENTS, READONLY, DEBUGGING
+ 11 .debug_loc    000003b4  00000000  00000000  00002cb0  2**0
+                  CONTENTS, READONLY, DEBUGGING
+ 12 .debug_ranges 00000018  00000000  00000000  00003064  2**0
+                  CONTENTS, READONLY, DEBUGGING
+
+Disassembly of section .text:
+
+00000000 <__vectors>:
+   0:	0c 94 34 00 	jmp	0x68	; 0x68 <__ctors_end>
+   4:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+   8:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+   c:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  10:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  14:	0c 94 3f 02 	jmp	0x47e	; 0x47e <__vector_5>
+  18:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  1c:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  20:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  24:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  28:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  2c:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  30:	0c 94 14 02 	jmp	0x428	; 0x428 <__vector_12>
+  34:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  38:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  3c:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  40:	0c 94 03 02 	jmp	0x406	; 0x406 <__vector_16>
+  44:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  48:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  4c:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  50:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  54:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  58:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  5c:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  60:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+  64:	0c 94 51 00 	jmp	0xa2	; 0xa2 <__bad_interrupt>
+
+00000068 <__ctors_end>:
+  68:	11 24       	eor	r1, r1
+  6a:	1f be       	out	0x3f, r1	; 63
+  6c:	cf ef       	ldi	r28, 0xFF	; 255
+  6e:	d8 e0       	ldi	r29, 0x08	; 8
+  70:	de bf       	out	0x3e, r29	; 62
+  72:	cd bf       	out	0x3d, r28	; 61
+
+00000074 <__do_copy_data>:
+  74:	11 e0       	ldi	r17, 0x01	; 1
+  76:	a0 e0       	ldi	r26, 0x00	; 0
+  78:	b1 e0       	ldi	r27, 0x01	; 1
+  7a:	ee e1       	ldi	r30, 0x1E	; 30
+  7c:	fc e0       	ldi	r31, 0x0C	; 12
+  7e:	02 c0       	rjmp	.+4      	; 0x84 <.do_copy_data_start>
+
+00000080 <.do_copy_data_loop>:
+  80:	05 90       	lpm	r0, Z+
+  82:	0d 92       	st	X+, r0
+
+00000084 <.do_copy_data_start>:
+  84:	a4 31       	cpi	r26, 0x14	; 20
+  86:	b1 07       	cpc	r27, r17
+  88:	d9 f7       	brne	.-10     	; 0x80 <.do_copy_data_loop>
+
+0000008a <__do_clear_bss>:
+  8a:	11 e0       	ldi	r17, 0x01	; 1
+  8c:	a4 e1       	ldi	r26, 0x14	; 20
+  8e:	b1 e0       	ldi	r27, 0x01	; 1
+  90:	01 c0       	rjmp	.+2      	; 0x94 <.do_clear_bss_start>
+
+00000092 <.do_clear_bss_loop>:
+  92:	1d 92       	st	X+, r1
+
+00000094 <.do_clear_bss_start>:
+  94:	a0 33       	cpi	r26, 0x30	; 48
+  96:	b1 07       	cpc	r27, r17
+  98:	e1 f7       	brne	.-8      	; 0x92 <.do_clear_bss_loop>
+  9a:	0e 94 57 04 	call	0x8ae	; 0x8ae <main>
+  9e:	0c 94 0d 06 	jmp	0xc1a	; 0xc1a <_exit>
+
+000000a2 <__bad_interrupt>:
+  a2:	0c 94 00 00 	jmp	0	; 0x0 <__vectors>
+
+000000a6 <eeprom_read_byte>:
+
+/** \ingroup avr_eeprom
+    Read one byte from EEPROM address \a __p.
+ */
+__ATTR_PURE__ static __inline__ uint8_t eeprom_read_byte (const uint8_t *__p)
+{
+  a6:	9c 01       	movw	r18, r24
+    do {} while (!eeprom_is_ready ());
+  a8:	f9 99       	sbic	0x1f, 1	; 31
+  aa:	fe cf       	rjmp	.-4      	; 0xa8 <eeprom_read_byte+0x2>
+#if E2END <= 0xFF
+    EEARL = (size_t)__p;
+#else
+    EEAR = (size_t)__p;
+  ac:	32 bd       	out	0x22, r19	; 34
+  ae:	21 bd       	out	0x21, r18	; 33
+    /* Use inline assembly below as some AVRs have problems with accessing
+    EECR with STS instructions. For example, see errata for ATmega64. 
+    The code below also assumes that EECR and EEDR are in the I/O space.
+    */
+    uint8_t __result;
+    __asm__ __volatile__
+  b0:	f8 9a       	sbi	0x1f, 0	; 31
+  b2:	80 b5       	in	r24, 0x20	; 32
+        : "i" (_SFR_IO_ADDR(EECR)),
+          "i" (EERE),
+          "i" (_SFR_IO_ADDR(EEDR))
+    );
+    return __result;
+}
+  b4:	08 95       	ret
+
+000000b6 <eeprom_write_byte>:
+
+/** \ingroup avr_eeprom
+    Write a byte \a __value to EEPROM address \a __p.
+ */
+static __inline__ void eeprom_write_byte (uint8_t *__p, uint8_t __value)
+{
+  b6:	9c 01       	movw	r18, r24
+    do {} while (!eeprom_is_ready ());
+  b8:	f9 99       	sbic	0x1f, 1	; 31
+  ba:	fe cf       	rjmp	.-4      	; 0xb8 <eeprom_write_byte+0x2>
+
+#if	defined(EEPM0) && defined(EEPM1)
+    EECR = 0;		/* Set programming mode: erase and write.	*/
+  bc:	1f ba       	out	0x1f, r1	; 31
+#endif
+
+#if	E2END <= 0xFF
+    EEARL = (size_t)__p;
+#else
+    EEAR = (size_t)__p;
+  be:	32 bd       	out	0x22, r19	; 34
+  c0:	21 bd       	out	0x21, r18	; 33
+#endif
+    EEDR = __value;
+  c2:	60 bd       	out	0x20, r22	; 32
+
+    __asm__ __volatile__ (
+  c4:	0f b6       	in	r0, 0x3f	; 63
+  c6:	f8 94       	cli
+  c8:	fa 9a       	sbi	0x1f, 2	; 31
+  ca:	f9 9a       	sbi	0x1f, 1	; 31
+  cc:	0f be       	out	0x3f, r0	; 63
+          [__sreg]  "i" (_SFR_IO_ADDR(SREG)),
+          [__eemwe] "i" (EEMWE),
+          [__eewe]  "i" (EEWE)
+        : "r0"
+    );
+}
+  ce:	08 95       	ret
+
+000000d0 <initialize_mcu>:
+void initialize_mcu(void)
+{
+unsigned char x = 0;
+unsigned int  eep_address = 0;
+
+asm("cli");
+  d0:	f8 94       	cli
+
+STOP_TIMER0();
+  d2:	15 bc       	out	0x25, r1	; 37
+RESET_TIMER0(); 
+  d4:	a8 9a       	sbi	0x15, 0	; 21
+  d6:	16 bc       	out	0x26, r1	; 38
+  d8:	10 92 1d 01 	sts	0x011D, r1
+
+/* Enable pwm mode 15 (fast pwm with top=OCR1A) and stop the timer. */
+/* The timer compare module must be configured before the DDR register. */
+// THE PPM GENERATOR IS CONFIGURED HERE !
+#if RC_PPM_OUTPUT_TYPE == 0   // NEGATIVE PULSES
+RC_TIMER1_MODE_REG = (1<<COM1B1) | (1<<COM1B0) | (1<<WGM11) | (1<<WGM10);
+  dc:	83 e3       	ldi	r24, 0x33	; 51
+  de:	80 93 80 00 	sts	0x0080, r24
+#endif
+#if RC_PPM_OUTPUT_TYPE == 1   // POSITIVE PULSES
+RC_TIMER1_MODE_REG = (1<<COM1B1) | (0<<COM1B0) | (1<<WGM11) | (1<<WGM10);
+#warning PPM output type set to POSITIVE PULSE
+#endif
+RC_TIMER1_PRESCALER_REG = (1<<WGM13)|(1<<WGM12);
+  e2:	88 e1       	ldi	r24, 0x18	; 24
+  e4:	80 93 81 00 	sts	0x0081, r24
+RC_TIMER1_COMP1_REG = RC_RESET_PW_TIMER_VAL;
+  e8:	8c ee       	ldi	r24, 0xEC	; 236
+  ea:	9c e2       	ldi	r25, 0x2C	; 44
+  ec:	90 93 89 00 	sts	0x0089, r25
+  f0:	80 93 88 00 	sts	0x0088, r24
+RC_TIMER1_COMP2_REG  = RC_PPM_SYNC_PW_VAL;
+  f4:	8c e2       	ldi	r24, 0x2C	; 44
+  f6:	91 e0       	ldi	r25, 0x01	; 1
+  f8:	90 93 8b 00 	sts	0x008B, r25
+  fc:	80 93 8a 00 	sts	0x008A, r24
+RC_TIMER1_TIMSK |= (1<<OCIE1B);
+ 100:	80 91 6f 00 	lds	r24, 0x006F
+ 104:	84 60       	ori	r24, 0x04	; 4
+ 106:	80 93 6f 00 	sts	0x006F, r24
+RC_TIMER1_TIFR |= ( (1<<OCIE1B)|(1<<TOIE1) );
+ 10a:	86 b3       	in	r24, 0x16	; 22
+ 10c:	85 60       	ori	r24, 0x05	; 5
+ 10e:	86 bb       	out	0x16, r24	; 22
+
+/*Enable timer0 overflow interupt and timer1 compare B interrupt */
+RC_TIMER0_TIMSK |= (1<<TOIE0);
+ 110:	80 91 6e 00 	lds	r24, 0x006E
+ 114:	81 60       	ori	r24, 0x01	; 1
+ 116:	80 93 6e 00 	sts	0x006E, r24
+RC_TIMER0_TIFR |= (1<<TOIE0);
+ 11a:	a8 9a       	sbi	0x15, 0	; 21
+
+RC_LED_PORT_OUT_REG &= (~(1<<RC_LED_PIN));
+ 11c:	28 98       	cbi	0x05, 0	; 5
+RC_LED_PORT_DDR_REG |= (1<<RC_LED_PIN);
+ 11e:	20 9a       	sbi	0x04, 0	; 4
+LED_ON();
+ 120:	28 9a       	sbi	0x05, 0	; 5
+
+RC_MUX_PORT_OUT_REG &= (~(1<<RC_MUX_PIN));
+ 122:	29 98       	cbi	0x05, 1	; 5
+RC_MUX_PORT_DDR_REG |= (1<<RC_MUX_PIN);
+ 124:	21 9a       	sbi	0x04, 1	; 4
+MUX_ON();
+ 126:	29 9a       	sbi	0x05, 1	; 5
+
+// make the setup pin an input and activate the pull up resistor on the setup pin.
+RC_SETUP_DDR_REG &= (~(1<<RC_SETUP_PIN));
+ 128:	24 98       	cbi	0x04, 4	; 4
+RC_SETUP_PORT_OUT_REG |= (1<<RC_SETUP_PIN);
+ 12a:	2c 9a       	sbi	0x05, 4	; 5
+
+/* configure the servo pins as inputs and activate their pull up resistors for noise reduction. */
+RC_SERVO_PORT_DDR_REG = 0;
+ 12c:	1a b8       	out	0x0a, r1	; 10
+RC_SERVO_PORT_OUT_REG = 0xFF;
+ 12e:	8f ef       	ldi	r24, 0xFF	; 255
+ 130:	8b b9       	out	0x0b, r24	; 11
+
+isr_channel_number = RC_PPM_GEN_CHANNELS;
+ 132:	88 e0       	ldi	r24, 0x08	; 8
+ 134:	80 93 15 01 	sts	0x0115, r24
+rc_lost_channel = (RC_LOST_CHANNEL-1);
+ 138:	82 e0       	ldi	r24, 0x02	; 2
+ 13a:	80 93 12 01 	sts	0x0112, r24
+ppm_off_threshold = RC_PPM_OFF_THRESHOLD_VAL;
+ 13e:	89 ee       	ldi	r24, 0xE9	; 233
+ 140:	97 e0       	ldi	r25, 0x07	; 7
+ 142:	90 93 11 01 	sts	0x0111, r25
+ 146:	80 93 10 01 	sts	0x0110, r24
+ 14a:	80 ef       	ldi	r24, 0xF0	; 240
+ 14c:	93 e0       	ldi	r25, 0x03	; 3
+ 14e:	10 c0       	rjmp	.+32     	; 0x170 <initialize_mcu+0xa0>
+// VERSION CONTROL 
+x=0;
+eep_address = (E2END - (sizeof(version_info)-1));
+while(version_info[x])
+    {
+       if( (eep_address) < E2END)
+ 150:	23 e0       	ldi	r18, 0x03	; 3
+ 152:	8f 3f       	cpi	r24, 0xFF	; 255
+ 154:	92 07       	cpc	r25, r18
+ 156:	58 f4       	brcc	.+22     	; 0x16e <initialize_mcu+0x9e>
+/** \ingroup avr_eeprom
+    Write a byte \a __value to EEPROM address \a __p.
+ */
+static __inline__ void eeprom_write_byte (uint8_t *__p, uint8_t __value)
+{
+    do {} while (!eeprom_is_ready ());
+ 158:	f9 99       	sbic	0x1f, 1	; 31
+ 15a:	fe cf       	rjmp	.-4      	; 0x158 <initialize_mcu+0x88>
+
+#if	defined(EEPM0) && defined(EEPM1)
+    EECR = 0;		/* Set programming mode: erase and write.	*/
+ 15c:	1f ba       	out	0x1f, r1	; 31
+#endif
+
+#if	E2END <= 0xFF
+    EEARL = (size_t)__p;
+#else
+    EEAR = (size_t)__p;
+ 15e:	92 bd       	out	0x22, r25	; 34
+ 160:	81 bd       	out	0x21, r24	; 33
+#endif
+    EEDR = __value;
+ 162:	e0 bd       	out	0x20, r30	; 32
+
+    __asm__ __volatile__ (
+ 164:	0f b6       	in	r0, 0x3f	; 63
+ 166:	f8 94       	cli
+ 168:	fa 9a       	sbi	0x1f, 2	; 31
+ 16a:	f9 9a       	sbi	0x1f, 1	; 31
+ 16c:	0f be       	out	0x3f, r0	; 63
+        {
+           eeprom_write_byte( (unsigned char*)eep_address, version_info[x]);
+        }
+       eep_address++;
+ 16e:	01 96       	adiw	r24, 0x01	; 1
+rc_lost_channel = (RC_LOST_CHANNEL-1);
+ppm_off_threshold = RC_PPM_OFF_THRESHOLD_VAL;
+// VERSION CONTROL 
+x=0;
+eep_address = (E2END - (sizeof(version_info)-1));
+while(version_info[x])
+ 170:	e8 2f       	mov	r30, r24
+ 172:	e0 5f       	subi	r30, 0xF0	; 240
+ 174:	f0 e0       	ldi	r31, 0x00	; 0
+ 176:	e0 50       	subi	r30, 0x00	; 0
+ 178:	ff 4f       	sbci	r31, 0xFF	; 255
+ 17a:	e0 81       	ld	r30, Z
+ 17c:	ee 23       	and	r30, r30
+ 17e:	41 f7       	brne	.-48     	; 0x150 <initialize_mcu+0x80>
+/** \ingroup avr_eeprom
+    Write a byte \a __value to EEPROM address \a __p.
+ */
+static __inline__ void eeprom_write_byte (uint8_t *__p, uint8_t __value)
+{
+    do {} while (!eeprom_is_ready ());
+ 180:	f9 99       	sbic	0x1f, 1	; 31
+ 182:	fe cf       	rjmp	.-4      	; 0x180 <initialize_mcu+0xb0>
+
+#if	defined(EEPM0) && defined(EEPM1)
+    EECR = 0;		/* Set programming mode: erase and write.	*/
+ 184:	1f ba       	out	0x1f, r1	; 31
+#endif
+
+#if	E2END <= 0xFF
+    EEARL = (size_t)__p;
+#else
+    EEAR = (size_t)__p;
+ 186:	8f ef       	ldi	r24, 0xFF	; 255
+ 188:	93 e0       	ldi	r25, 0x03	; 3
+ 18a:	92 bd       	out	0x22, r25	; 34
+ 18c:	81 bd       	out	0x21, r24	; 33
+#endif
+    EEDR = __value;
+ 18e:	10 bc       	out	0x20, r1	; 32
+
+    __asm__ __volatile__ (
+ 190:	0f b6       	in	r0, 0x3f	; 63
+ 192:	f8 94       	cli
+ 194:	fa 9a       	sbi	0x1f, 2	; 31
+ 196:	f9 9a       	sbi	0x1f, 1	; 31
+ 198:	0f be       	out	0x3f, r0	; 63
+       eep_address++;
+       x++;
+    }
+eeprom_write_byte((unsigned char*)E2END, '\0');   //Terminate the version control string. 
+
+asm("sei");
+ 19a:	78 94       	sei
+
+/* give some time for the pull up resistors to work. ~30 ms * 3 = 90 ms */
+LED_OFF();
+ 19c:	28 98       	cbi	0x05, 0	; 5
+RESET_START_TIMER0();
+ 19e:	15 bc       	out	0x25, r1	; 37
+ 1a0:	a8 9a       	sbi	0x15, 0	; 21
+ 1a2:	16 bc       	out	0x26, r1	; 38
+ 1a4:	10 92 1d 01 	sts	0x011D, r1
+ 1a8:	82 e0       	ldi	r24, 0x02	; 2
+ 1aa:	85 bd       	out	0x25, r24	; 37
+ 1ac:	90 e0       	ldi	r25, 0x00	; 0
+for(x=0; x<3; x++)
+  {
+    wdt_reset();
+ 1ae:	a8 95       	wdr
+    RESET_TIMER0();
+ 1b0:	a8 9a       	sbi	0x15, 0	; 21
+ 1b2:	16 bc       	out	0x26, r1	; 38
+ 1b4:	10 92 1d 01 	sts	0x011D, r1
+    while(timer0.timer0[1] < RC_MAX_TIMEOUT_VAL ); 
+ 1b8:	80 91 1d 01 	lds	r24, 0x011D
+ 1bc:	86 37       	cpi	r24, 0x76	; 118
+ 1be:	e0 f3       	brcs	.-8      	; 0x1b8 <initialize_mcu+0xe8>
+asm("sei");
+
+/* give some time for the pull up resistors to work. ~30 ms * 3 = 90 ms */
+LED_OFF();
+RESET_START_TIMER0();
+for(x=0; x<3; x++)
+ 1c0:	9f 5f       	subi	r25, 0xFF	; 255
+ 1c2:	93 30       	cpi	r25, 0x03	; 3
+ 1c4:	a1 f7       	brne	.-24     	; 0x1ae <initialize_mcu+0xde>
+    wdt_reset();
+    RESET_TIMER0();
+    while(timer0.timer0[1] < RC_MAX_TIMEOUT_VAL ); 
+  }
+x = 0;
+STOP_TIMER0();
+ 1c6:	15 bc       	out	0x25, r1	; 37
+RESET_TIMER0();
+ 1c8:	a8 9a       	sbi	0x15, 0	; 21
+ 1ca:	16 bc       	out	0x26, r1	; 38
+ 1cc:	10 92 1d 01 	sts	0x011D, r1
+LED_ON();
+ 1d0:	28 9a       	sbi	0x05, 0	; 5
+to the timer1 compare module to initialize.
+The timer1 compare module as the Mega 168 manual states must be initialized before setting the DDR register
+of the OCR1X pins.
+*/
+//RC_PPM_PORT_OUT_REG &= (~(1<<RC_PPM_PIN));
+RC_PPM_PORT_DDR_REG |= (1<<RC_PPM_PIN);
+ 1d2:	22 9a       	sbi	0x04, 2	; 4
+
+return;
+}
+ 1d4:	08 95       	ret
+
+000001d6 <detect_connected_channels>:
+
+/*22222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222*/
+/*33333333333333333333333333333333333333333333333333333333333333333333333333333333333333333333333333*/
+
+unsigned char detect_connected_channels(void)
+{
+ 1d6:	cf 93       	push	r28
+ 1d8:	df 93       	push	r29
+
+/* 
+There must be no error in which channels are connected to the encoder
+because this will have devastating effects later on.
+*/
+wdt_reset(); 
+ 1da:	a8 95       	wdr
+RESET_START_TIMER0();
+ 1dc:	15 bc       	out	0x25, r1	; 37
+ 1de:	a8 9a       	sbi	0x15, 0	; 21
+ 1e0:	16 bc       	out	0x26, r1	; 38
+ 1e2:	10 92 1d 01 	sts	0x011D, r1
+ 1e6:	82 e0       	ldi	r24, 0x02	; 2
+ 1e8:	85 bd       	out	0x25, r24	; 37
+ 1ea:	f0 91 19 01 	lds	r31, 0x0119
+ 1ee:	a0 e0       	ldi	r26, 0x00	; 0
+ 1f0:	20 e0       	ldi	r18, 0x00	; 0
+ 1f2:	30 e0       	ldi	r19, 0x00	; 0
+
+      for(channel=0; channel < RC_SERVO_INPUT_CHANNELS; channel++)
+ 1f4:	c1 e0       	ldi	r28, 0x01	; 1
+ 1f6:	d0 e0       	ldi	r29, 0x00	; 0
+ 1f8:	29 c0       	rjmp	.+82     	; 0x24c <detect_connected_channels+0x76>
+        {
+           servo_connected = 0;
+           for(y=0; y<5; y++)
+             {
+                wdt_reset(); 
+ 1fa:	a8 95       	wdr
+                RESET_TIMER0();
+ 1fc:	a8 9a       	sbi	0x15, 0	; 21
+ 1fe:	16 bc       	out	0x26, r1	; 38
+ 200:	10 92 1d 01 	sts	0x011D, r1
+ 204:	e0 e0       	ldi	r30, 0x00	; 0
+ 206:	11 c0       	rjmp	.+34     	; 0x22a <detect_connected_channels+0x54>
+                x=0;
+                while(timer0.timer0[1] <= RC_MAX_TIMEOUT_VAL )
+                    {
+                      if(RC_SERVO_PORT_PIN_REG & (1<<channel)) { x=timer0.timer0[1]; }
+ 208:	89 b1       	in	r24, 0x09	; 9
+ 20a:	90 e0       	ldi	r25, 0x00	; 0
+ 20c:	86 23       	and	r24, r22
+ 20e:	97 23       	and	r25, r23
+ 210:	89 2b       	or	r24, r25
+ 212:	11 f0       	breq	.+4      	; 0x218 <detect_connected_channels+0x42>
+ 214:	e0 91 1d 01 	lds	r30, 0x011D
+                      if( (timer0.timer0[1] - x) >= RC_PULSE_TIMEOUT_VAL ){ servo_connected++; break; }
+ 218:	80 91 1d 01 	lds	r24, 0x011D
+ 21c:	90 e0       	ldi	r25, 0x00	; 0
+ 21e:	8e 1b       	sub	r24, r30
+ 220:	91 09       	sbc	r25, r1
+ 222:	09 97       	sbiw	r24, 0x09	; 9
+ 224:	10 f0       	brcs	.+4      	; 0x22a <detect_connected_channels+0x54>
+ 226:	5f 5f       	subi	r21, 0xFF	; 255
+ 228:	04 c0       	rjmp	.+8      	; 0x232 <detect_connected_channels+0x5c>
+           for(y=0; y<5; y++)
+             {
+                wdt_reset(); 
+                RESET_TIMER0();
+                x=0;
+                while(timer0.timer0[1] <= RC_MAX_TIMEOUT_VAL )
+ 22a:	80 91 1d 01 	lds	r24, 0x011D
+ 22e:	87 37       	cpi	r24, 0x77	; 119
+ 230:	58 f3       	brcs	.-42     	; 0x208 <detect_connected_channels+0x32>
+                    {
+                      if(RC_SERVO_PORT_PIN_REG & (1<<channel)) { x=timer0.timer0[1]; }
+                      if( (timer0.timer0[1] - x) >= RC_PULSE_TIMEOUT_VAL ){ servo_connected++; break; }
+                    }
+                if(servo_connected >= 3){ channel_mask |= (1<<channel); connected_channels++; break; } 
+ 232:	53 30       	cpi	r21, 0x03	; 3
+ 234:	18 f0       	brcs	.+6      	; 0x23c <detect_connected_channels+0x66>
+ 236:	f6 2b       	or	r31, r22
+ 238:	af 5f       	subi	r26, 0xFF	; 255
+ 23a:	03 c0       	rjmp	.+6      	; 0x242 <detect_connected_channels+0x6c>
+RESET_START_TIMER0();
+
+      for(channel=0; channel < RC_SERVO_INPUT_CHANNELS; channel++)
+        {
+           servo_connected = 0;
+           for(y=0; y<5; y++)
+ 23c:	4f 5f       	subi	r20, 0xFF	; 255
+ 23e:	45 30       	cpi	r20, 0x05	; 5
+ 240:	e1 f6       	brne	.-72     	; 0x1fa <detect_connected_channels+0x24>
+ 242:	2f 5f       	subi	r18, 0xFF	; 255
+ 244:	3f 4f       	sbci	r19, 0xFF	; 255
+because this will have devastating effects later on.
+*/
+wdt_reset(); 
+RESET_START_TIMER0();
+
+      for(channel=0; channel < RC_SERVO_INPUT_CHANNELS; channel++)
+ 246:	28 30       	cpi	r18, 0x08	; 8
+ 248:	31 05       	cpc	r19, r1
+ 24a:	51 f0       	breq	.+20     	; 0x260 <detect_connected_channels+0x8a>
+ 24c:	be 01       	movw	r22, r28
+ 24e:	02 2e       	mov	r0, r18
+ 250:	02 c0       	rjmp	.+4      	; 0x256 <detect_connected_channels+0x80>
+ 252:	66 0f       	add	r22, r22
+ 254:	77 1f       	adc	r23, r23
+ 256:	0a 94       	dec	r0
+ 258:	e2 f7       	brpl	.-8      	; 0x252 <detect_connected_channels+0x7c>
+ 25a:	50 e0       	ldi	r21, 0x00	; 0
+ 25c:	40 e0       	ldi	r20, 0x00	; 0
+ 25e:	cd cf       	rjmp	.-102    	; 0x1fa <detect_connected_channels+0x24>
+ 260:	f0 93 19 01 	sts	0x0119, r31
+     }
+  }
+#endif
+
+return(connected_channels);
+}
+ 264:	8a 2f       	mov	r24, r26
+ 266:	df 91       	pop	r29
+ 268:	cf 91       	pop	r28
+ 26a:	08 95       	ret
+
+0000026c <get_channel_pw>:
+{
+
+unsigned int  pw = 0;
+unsigned char pw_measurement_started = 0;
+
+wdt_reset();
+ 26c:	a8 95       	wdr
+/* The servo input pins are already configured as inputs with pullup resistors. */ 
+// First we must disable the pin interrupt. 
+RC_PIN_INT_EN_REG &= (~(1<<RC_PIN_INT_EN_BIT));
+ 26e:	90 91 68 00 	lds	r25, 0x0068
+ 272:	9b 7f       	andi	r25, 0xFB	; 251
+ 274:	90 93 68 00 	sts	0x0068, r25
+//Now we must load the pin interrupt mask register.
+RC_PIN_INT_MASK_REG = (1<<pin);
+ 278:	21 e0       	ldi	r18, 0x01	; 1
+ 27a:	30 e0       	ldi	r19, 0x00	; 0
+ 27c:	02 c0       	rjmp	.+4      	; 0x282 <get_channel_pw+0x16>
+ 27e:	22 0f       	add	r18, r18
+ 280:	33 1f       	adc	r19, r19
+ 282:	8a 95       	dec	r24
+ 284:	e2 f7       	brpl	.-8      	; 0x27e <get_channel_pw+0x12>
+ 286:	20 93 6d 00 	sts	0x006D, r18
+//Clear any pin interrupt flag set. 
+RC_PIN_INT_FLAG_REG |= (1<<RC_PIN_INT_FLAG_BIT);
+ 28a:	da 9a       	sbi	0x1b, 2	; 27
+// Clear the pin interrupt ISR detection variable
+pin_interrupt_detected = 0;
+ 28c:	10 92 14 01 	sts	0x0114, r1
+// Finally we can enable the pin interrupt again. 
+RC_PIN_INT_EN_REG |= (1<<RC_PIN_INT_EN_BIT); 
+ 290:	80 91 68 00 	lds	r24, 0x0068
+ 294:	84 60       	ori	r24, 0x04	; 4
+ 296:	80 93 68 00 	sts	0x0068, r24
+// Set and start timer1
+RESET_START_TIMER0();
+ 29a:	15 bc       	out	0x25, r1	; 37
+ 29c:	a8 9a       	sbi	0x15, 0	; 21
+ 29e:	16 bc       	out	0x26, r1	; 38
+ 2a0:	10 92 1d 01 	sts	0x011D, r1
+ 2a4:	82 e0       	ldi	r24, 0x02	; 2
+ 2a6:	85 bd       	out	0x25, r24	; 37
+ 2a8:	40 e0       	ldi	r20, 0x00	; 0
+ 2aa:	50 e0       	ldi	r21, 0x00	; 0
+ 2ac:	60 e0       	ldi	r22, 0x00	; 0
+
+while(1)
+    {  
+       /* Wait until the pin change state. */
+       do{  
+           if( timer0.timer0[1] >=  RC_MAX_TIMEOUT_VAL )
+ 2ae:	80 91 1d 01 	lds	r24, 0x011D
+ 2b2:	86 37       	cpi	r24, 0x76	; 118
+ 2b4:	18 f0       	brcs	.+6      	; 0x2bc <get_channel_pw+0x50>
+ 2b6:	20 e0       	ldi	r18, 0x00	; 0
+ 2b8:	30 e0       	ldi	r19, 0x00	; 0
+ 2ba:	1f c0       	rjmp	.+62     	; 0x2fa <get_channel_pw+0x8e>
+            { 
+              return(0);
+            }
+                 
+         }while( pin_interrupt_detected == 0 );
+ 2bc:	80 91 14 01 	lds	r24, 0x0114
+ 2c0:	88 23       	and	r24, r24
+ 2c2:	a9 f3       	breq	.-22     	; 0x2ae <get_channel_pw+0x42>
+         pin_interrupt_detected = 0; 
+ 2c4:	10 92 14 01 	sts	0x0114, r1
+         if( RC_SERVO_PORT_PIN_REG & (1<<pin) ) /* if the pin is high then give it a time stamp */ 
+ 2c8:	89 b1       	in	r24, 0x09	; 9
+ 2ca:	90 e0       	ldi	r25, 0x00	; 0
+ 2cc:	82 23       	and	r24, r18
+ 2ce:	93 23       	and	r25, r19
+ 2d0:	89 2b       	or	r24, r25
+ 2d2:	31 f0       	breq	.+12     	; 0x2e0 <get_channel_pw+0x74>
+          {
+             pw = isr_timer0_16;
+ 2d4:	40 91 16 01 	lds	r20, 0x0116
+ 2d8:	50 91 17 01 	lds	r21, 0x0117
+ 2dc:	61 e0       	ldi	r22, 0x01	; 1
+ 2de:	e7 cf       	rjmp	.-50     	; 0x2ae <get_channel_pw+0x42>
+             pw_measurement_started = 1;        /* signal that this channel got it's timer stamp.*/
+                                       
+          }else{ 
+                  // If the pin is low and it already has a time stamp then we are done.
+                  if( pw_measurement_started )
+ 2e0:	66 23       	and	r22, r22
+ 2e2:	29 f3       	breq	.-54     	; 0x2ae <get_channel_pw+0x42>
+                   {
+                      pw = isr_timer0_16 - pw;
+ 2e4:	20 91 16 01 	lds	r18, 0x0116
+ 2e8:	30 91 17 01 	lds	r19, 0x0117
+ 2ec:	24 1b       	sub	r18, r20
+ 2ee:	35 0b       	sbc	r19, r21
+                   }
+               }
+    }  
+
+/*Stop the timer */
+STOP_TIMER0(); 
+ 2f0:	15 bc       	out	0x25, r1	; 37
+RESET_TIMER0();
+ 2f2:	a8 9a       	sbi	0x15, 0	; 21
+ 2f4:	16 bc       	out	0x26, r1	; 38
+ 2f6:	10 92 1d 01 	sts	0x011D, r1
+   
+return((unsigned int)pw);   
+}  
+ 2fa:	c9 01       	movw	r24, r18
+ 2fc:	08 95       	ret
+
+000002fe <wait_for_rx>:
+}
+
+#else
+
+void wait_for_rx(void)
+{
+ 2fe:	0f 93       	push	r16
+ 300:	1f 93       	push	r17
+unsigned int pw=0;
+unsigned char x = 0;
+unsigned char servo_connected = 0;
+unsigned char channel = 0;
+
+RESET_START_TIMER0();
+ 302:	15 bc       	out	0x25, r1	; 37
+ 304:	a8 9a       	sbi	0x15, 0	; 21
+ 306:	16 bc       	out	0x26, r1	; 38
+ 308:	10 92 1d 01 	sts	0x011D, r1
+ 30c:	82 e0       	ldi	r24, 0x02	; 2
+ 30e:	85 bd       	out	0x25, r24	; 37
+ 310:	00 e0       	ldi	r16, 0x00	; 0
+do{
+    for(channel=0; channel < RC_SERVO_INPUT_CHANNELS; channel++)
+      {
+        wdt_reset(); 
+        RESET_TIMER0();
+ 312:	61 e0       	ldi	r22, 0x01	; 1
+ 314:	70 e0       	ldi	r23, 0x00	; 0
+ 316:	24 c0       	rjmp	.+72     	; 0x360 <wait_for_rx+0x62>
+
+RESET_START_TIMER0();
+do{
+    for(channel=0; channel < RC_SERVO_INPUT_CHANNELS; channel++)
+      {
+        wdt_reset(); 
+ 318:	a8 95       	wdr
+        RESET_TIMER0();
+ 31a:	a8 9a       	sbi	0x15, 0	; 21
+ 31c:	16 bc       	out	0x26, r1	; 38
+ 31e:	10 92 1d 01 	sts	0x011D, r1
+ 322:	9b 01       	movw	r18, r22
+ 324:	00 2e       	mov	r0, r16
+ 326:	02 c0       	rjmp	.+4      	; 0x32c <wait_for_rx+0x2e>
+ 328:	22 0f       	add	r18, r18
+ 32a:	33 1f       	adc	r19, r19
+ 32c:	0a 94       	dec	r0
+ 32e:	e2 f7       	brpl	.-8      	; 0x328 <wait_for_rx+0x2a>
+ 330:	40 e0       	ldi	r20, 0x00	; 0
+ 332:	0f c0       	rjmp	.+30     	; 0x352 <wait_for_rx+0x54>
+        servo_connected = 0;
+        x=0;
+        while(timer0.timer0[1] <= RC_MAX_TIMEOUT_VAL )
+            {
+              if(RC_SERVO_PORT_PIN_REG & (1<<channel)) { x=timer0.timer0[1]; }
+ 334:	89 b1       	in	r24, 0x09	; 9
+ 336:	90 e0       	ldi	r25, 0x00	; 0
+ 338:	82 23       	and	r24, r18
+ 33a:	93 23       	and	r25, r19
+ 33c:	89 2b       	or	r24, r25
+ 33e:	11 f0       	breq	.+4      	; 0x344 <wait_for_rx+0x46>
+ 340:	40 91 1d 01 	lds	r20, 0x011D
+              if( (timer0.timer0[1] - x) >= RC_PULSE_TIMEOUT_VAL ){ servo_connected = 1; break; }
+ 344:	80 91 1d 01 	lds	r24, 0x011D
+ 348:	90 e0       	ldi	r25, 0x00	; 0
+ 34a:	84 1b       	sub	r24, r20
+ 34c:	91 09       	sbc	r25, r1
+ 34e:	09 97       	sbiw	r24, 0x09	; 9
+ 350:	50 f4       	brcc	.+20     	; 0x366 <wait_for_rx+0x68>
+      {
+        wdt_reset(); 
+        RESET_TIMER0();
+        servo_connected = 0;
+        x=0;
+        while(timer0.timer0[1] <= RC_MAX_TIMEOUT_VAL )
+ 352:	80 91 1d 01 	lds	r24, 0x011D
+ 356:	87 37       	cpi	r24, 0x77	; 119
+ 358:	68 f3       	brcs	.-38     	; 0x334 <wait_for_rx+0x36>
+ 35a:	12 c0       	rjmp	.+36     	; 0x380 <wait_for_rx+0x82>
+ 35c:	00 e0       	ldi	r16, 0x00	; 0
+ 35e:	dc cf       	rjmp	.-72     	; 0x318 <wait_for_rx+0x1a>
+unsigned char servo_connected = 0;
+unsigned char channel = 0;
+
+RESET_START_TIMER0();
+do{
+    for(channel=0; channel < RC_SERVO_INPUT_CHANNELS; channel++)
+ 360:	08 30       	cpi	r16, 0x08	; 8
+ 362:	d0 f2       	brcs	.-76     	; 0x318 <wait_for_rx+0x1a>
+ 364:	fb cf       	rjmp	.-10     	; 0x35c <wait_for_rx+0x5e>
+ 366:	10 e0       	ldi	r17, 0x00	; 0
+
+//Now test the found channel for a proper servo pulse.
+x = 0;
+while(1)
+    {
+       pw=get_channel_pw(channel);
+ 368:	80 2f       	mov	r24, r16
+ 36a:	0e 94 36 01 	call	0x26c	; 0x26c <get_channel_pw>
+       if( (pw > RC_SERVO_MIN_PW_VAL) && (pw < RC_SERVO_MAX_PW_VAL) ) { x++; }else{ x=0; }
+ 36e:	81 52       	subi	r24, 0x21	; 33
+ 370:	93 40       	sbci	r25, 0x03	; 3
+ 372:	87 57       	subi	r24, 0x77	; 119
+ 374:	95 40       	sbci	r25, 0x05	; 5
+ 376:	b8 f7       	brcc	.-18     	; 0x366 <wait_for_rx+0x68>
+ 378:	1f 5f       	subi	r17, 0xFF	; 255
+       if(x >= 3) { break; }
+ 37a:	13 30       	cpi	r17, 0x03	; 3
+ 37c:	a8 f3       	brcs	.-22     	; 0x368 <wait_for_rx+0x6a>
+ 37e:	02 c0       	rjmp	.+4      	; 0x384 <wait_for_rx+0x86>
+unsigned char servo_connected = 0;
+unsigned char channel = 0;
+
+RESET_START_TIMER0();
+do{
+    for(channel=0; channel < RC_SERVO_INPUT_CHANNELS; channel++)
+ 380:	0f 5f       	subi	r16, 0xFF	; 255
+ 382:	ee cf       	rjmp	.-36     	; 0x360 <wait_for_rx+0x62>
+       if( (pw > RC_SERVO_MIN_PW_VAL) && (pw < RC_SERVO_MAX_PW_VAL) ) { x++; }else{ x=0; }
+       if(x >= 3) { break; }
+    }
+
+return;
+}
+ 384:	1f 91       	pop	r17
+ 386:	0f 91       	pop	r16
+ 388:	08 95       	ret
+
+0000038a <load_failsafe_values>:
+/*77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777*/
+/*88888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888*/
+
+void load_failsafe_values(void)
+{
+wdt_reset();
+ 38a:	a8 95       	wdr
+isr_channel_pw[0] = RC_FS_CH_1_TIMER_VAL;
+ 38c:	8c ed       	ldi	r24, 0xDC	; 220
+ 38e:	95 e0       	ldi	r25, 0x05	; 5
+ 390:	90 93 1f 01 	sts	0x011F, r25
+ 394:	80 93 1e 01 	sts	0x011E, r24
+#if   RC_PPM_GEN_CHANNELS >= 2
+isr_channel_pw[1] = RC_FS_CH_2_TIMER_VAL;
+ 398:	90 93 21 01 	sts	0x0121, r25
+ 39c:	80 93 20 01 	sts	0x0120, r24
+#endif
+#if RC_PPM_GEN_CHANNELS >= 3
+isr_channel_pw[2] = RC_FS_CH_3_TIMER_VAL;
+ 3a0:	28 ee       	ldi	r18, 0xE8	; 232
+ 3a2:	33 e0       	ldi	r19, 0x03	; 3
+ 3a4:	30 93 23 01 	sts	0x0123, r19
+ 3a8:	20 93 22 01 	sts	0x0122, r18
+#endif
+#if RC_PPM_GEN_CHANNELS >= 4
+isr_channel_pw[3] = RC_FS_CH_4_TIMER_VAL;
+ 3ac:	90 93 25 01 	sts	0x0125, r25
+ 3b0:	80 93 24 01 	sts	0x0124, r24
+#endif
+#if RC_PPM_GEN_CHANNELS >= 5
+isr_channel_pw[4] = RC_FS_CH_5_TIMER_VAL;
+ 3b4:	30 93 27 01 	sts	0x0127, r19
+ 3b8:	20 93 26 01 	sts	0x0126, r18
+#endif
+#if RC_PPM_GEN_CHANNELS >= 6
+isr_channel_pw[5] = RC_FS_CH_6_TIMER_VAL;
+ 3bc:	30 93 29 01 	sts	0x0129, r19
+ 3c0:	20 93 28 01 	sts	0x0128, r18
+#endif
+#if RC_PPM_GEN_CHANNELS >= 7
+isr_channel_pw[6] = RC_FS_CH_7_TIMER_VAL;
+ 3c4:	30 93 2b 01 	sts	0x012B, r19
+ 3c8:	20 93 2a 01 	sts	0x012A, r18
+#endif
+#if RC_PPM_GEN_CHANNELS >= 8
+isr_channel_pw[7] = RC_FS_CH_8_TIMER_VAL;
+ 3cc:	30 93 2d 01 	sts	0x012D, r19
+ 3d0:	20 93 2c 01 	sts	0x012C, r18
+#endif
+#if RC_PPM_GEN_CHANNELS >= 9
+isr_channel_pw[8] = RC_FS_CH_8_TIMER_VAL;
+#endif
+isr_channel_pw[RC_PPM_GEN_CHANNELS] = RC_RESET_PW_TIMER_VAL;
+ 3d4:	8c ee       	ldi	r24, 0xEC	; 236
+ 3d6:	9c e2       	ldi	r25, 0x2C	; 44
+ 3d8:	90 93 2f 01 	sts	0x012F, r25
+ 3dc:	80 93 2e 01 	sts	0x012E, r24
+
+
+return;
+} 
+ 3e0:	08 95       	ret
+
+000003e2 <mux_control>:
+/*12121212121212121212121212121212121212121212121212121212121212121212121212121212121212121212121212*/
+
+
+void mux_control(void)
+{
+long PULSE_WIDTH = isr_channel_pw[RC_MUX_CHANNEL-1];
+ 3e2:	80 91 2c 01 	lds	r24, 0x012C
+ 3e6:	90 91 2d 01 	lds	r25, 0x012D
+
+#if RC_MUX_REVERSE == 0
+
+	if((PULSE_WIDTH>RC_MUX_MIN)&&(PULSE_WIDTH<RC_MUX_MAX))
+ 3ea:	a0 e0       	ldi	r26, 0x00	; 0
+ 3ec:	b0 e0       	ldi	r27, 0x00	; 0
+ 3ee:	01 97       	sbiw	r24, 0x01	; 1
+ 3f0:	a1 09       	sbc	r26, r1
+ 3f2:	b1 09       	sbc	r27, r1
+ 3f4:	81 5e       	subi	r24, 0xE1	; 225
+ 3f6:	94 40       	sbci	r25, 0x04	; 4
+ 3f8:	a0 40       	sbci	r26, 0x00	; 0
+ 3fa:	b0 40       	sbci	r27, 0x00	; 0
+ 3fc:	10 f4       	brcc	.+4      	; 0x402 <mux_control+0x20>
+	{
+		MUX_ON();
+ 3fe:	29 9a       	sbi	0x05, 1	; 5
+ 400:	08 95       	ret
+	}
+	else
+	{
+		MUX_OFF();
+ 402:	29 98       	cbi	0x05, 1	; 5
+ 404:	08 95       	ret
+
+00000406 <__vector_16>:
+/*                                   INTERRUPT SERVICE ROUTINES                                         */
+/********************************************************************************************************/
+
+//ISR(TIMER0_OVF_vect, ISR_NAKED)
+ISR(TIMER0_OVF_vect)
+{
+ 406:	1f 92       	push	r1
+ 408:	0f 92       	push	r0
+ 40a:	0f b6       	in	r0, 0x3f	; 63
+ 40c:	0f 92       	push	r0
+ 40e:	11 24       	eor	r1, r1
+ 410:	8f 93       	push	r24
+timer0.timer0[1]++;
+ 412:	80 91 1d 01 	lds	r24, 0x011D
+ 416:	8f 5f       	subi	r24, 0xFF	; 255
+ 418:	80 93 1d 01 	sts	0x011D, r24
+
+return;
+}  
+ 41c:	8f 91       	pop	r24
+ 41e:	0f 90       	pop	r0
+ 420:	0f be       	out	0x3f, r0	; 63
+ 422:	0f 90       	pop	r0
+ 424:	1f 90       	pop	r1
+ 426:	18 95       	reti
+
+00000428 <__vector_12>:
+modifying their buffers and not the actual registers.
+Both actual registers are updated when the timer reaches the OCR1A (TOP) value automatically.
+This way the OCR1B interrupt can be delayed as needed without any loss of timing accuracy.
+*/
+ISR(TIMER1_COMPB_vect)
+{
+ 428:	1f 92       	push	r1
+ 42a:	0f 92       	push	r0
+ 42c:	0f b6       	in	r0, 0x3f	; 63
+ 42e:	0f 92       	push	r0
+ 430:	11 24       	eor	r1, r1
+ 432:	8f 93       	push	r24
+ 434:	9f 93       	push	r25
+ 436:	ef 93       	push	r30
+ 438:	ff 93       	push	r31
+asm("sei");
+ 43a:	78 94       	sei
+      } 
+
+#endif
+#if RC_CONSTANT_PPM_FRAME_TIME == 0
+
+isr_channel_number++;
+ 43c:	80 91 15 01 	lds	r24, 0x0115
+ 440:	8f 5f       	subi	r24, 0xFF	; 255
+ 442:	80 93 15 01 	sts	0x0115, r24
+if( isr_channel_number >= (RC_PPM_GEN_CHANNELS + 1) ) {isr_channel_number = 0; }
+ 446:	80 91 15 01 	lds	r24, 0x0115
+ 44a:	89 30       	cpi	r24, 0x09	; 9
+ 44c:	10 f0       	brcs	.+4      	; 0x452 <__vector_12+0x2a>
+ 44e:	10 92 15 01 	sts	0x0115, r1
+ RC_TIMER1_COMP1_REG = isr_channel_pw[isr_channel_number];
+ 452:	e0 91 15 01 	lds	r30, 0x0115
+ 456:	f0 e0       	ldi	r31, 0x00	; 0
+ 458:	ee 0f       	add	r30, r30
+ 45a:	ff 1f       	adc	r31, r31
+ 45c:	e2 5e       	subi	r30, 0xE2	; 226
+ 45e:	fe 4f       	sbci	r31, 0xFE	; 254
+ 460:	80 81       	ld	r24, Z
+ 462:	91 81       	ldd	r25, Z+1	; 0x01
+ 464:	90 93 89 00 	sts	0x0089, r25
+ 468:	80 93 88 00 	sts	0x0088, r24
+
+#endif
+
+return;
+}
+ 46c:	ff 91       	pop	r31
+ 46e:	ef 91       	pop	r30
+ 470:	9f 91       	pop	r25
+ 472:	8f 91       	pop	r24
+ 474:	0f 90       	pop	r0
+ 476:	0f be       	out	0x3f, r0	; 63
+ 478:	0f 90       	pop	r0
+ 47a:	1f 90       	pop	r1
+ 47c:	18 95       	reti
+
+0000047e <__vector_5>:
+
+/********************************************************************************************************/
+
+ISR(PCINT2_vect)
+{                       
+ 47e:	1f 92       	push	r1
+ 480:	0f 92       	push	r0
+ 482:	0f b6       	in	r0, 0x3f	; 63
+ 484:	0f 92       	push	r0
+ 486:	11 24       	eor	r1, r1
+ 488:	8f 93       	push	r24
+ 48a:	9f 93       	push	r25
+
+timer0.timer0[0]= TCNT0;
+ 48c:	86 b5       	in	r24, 0x26	; 38
+ 48e:	80 93 1c 01 	sts	0x011C, r24
+if( RC_TIMER0_TIFR & (1<<TOIE0) ){RC_TIMER0_TIFR |= (1<<TOIE0); timer0.timer0[1]++; timer0.timer0[0]= 0; } 
+ 492:	a8 9b       	sbis	0x15, 0	; 21
+ 494:	08 c0       	rjmp	.+16     	; 0x4a6 <__vector_5+0x28>
+ 496:	a8 9a       	sbi	0x15, 0	; 21
+ 498:	80 91 1d 01 	lds	r24, 0x011D
+ 49c:	8f 5f       	subi	r24, 0xFF	; 255
+ 49e:	80 93 1d 01 	sts	0x011D, r24
+ 4a2:	10 92 1c 01 	sts	0x011C, r1
+isr_timer0_16 = timer0.timer0_16;
+ 4a6:	80 91 1c 01 	lds	r24, 0x011C
+ 4aa:	90 91 1d 01 	lds	r25, 0x011D
+ 4ae:	90 93 17 01 	sts	0x0117, r25
+ 4b2:	80 93 16 01 	sts	0x0116, r24
+pin_interrupt_detected = 1;
+ 4b6:	81 e0       	ldi	r24, 0x01	; 1
+ 4b8:	80 93 14 01 	sts	0x0114, r24
+
+
+return;
+}  
+ 4bc:	9f 91       	pop	r25
+ 4be:	8f 91       	pop	r24
+ 4c0:	0f 90       	pop	r0
+ 4c2:	0f be       	out	0x3f, r0	; 63
+ 4c4:	0f 90       	pop	r0
+ 4c6:	1f 90       	pop	r1
+ 4c8:	18 95       	reti
+
+000004ca <write_default_values_to_eeprom>:
+
+/*33333333333333333333333333333333333333333333333333333333333333333333333333333333333333333333333333*/
+/*44444444444444444444444444444444444444444444444444444444444444444444444444444444444444444444444444*/
+
+void write_default_values_to_eeprom(void)
+{
+ 4ca:	cf 93       	push	r28
+ 4cc:	df 93       	push	r29
+ 4ce:	c4 e1       	ldi	r28, 0x14	; 20
+ 4d0:	d0 e0       	ldi	r29, 0x00	; 0
+    Write a word \a __value to EEPROM address \a __p.
+ */
+static __inline__ void eeprom_write_word (uint16_t *__p, uint16_t __value)
+{
+#if (! (defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__)) )
+    __eewr_word (__p, __value, eeprom_write_byte);
+ 4d2:	ce 01       	movw	r24, r28
+ 4d4:	69 ee       	ldi	r22, 0xE9	; 233
+ 4d6:	77 e0       	ldi	r23, 0x07	; 7
+ 4d8:	4b e5       	ldi	r20, 0x5B	; 91
+ 4da:	50 e0       	ldi	r21, 0x00	; 0
+ 4dc:	0e 94 e4 05 	call	0xbc8	; 0xbc8 <__eewr_word>
+ 4e0:	22 96       	adiw	r28, 0x02	; 2
+
+unsigned char x = 0;
+
+for(x=0; x<(sizeof(ppm_off_threshold_e)/sizeof(int)); x++)
+ 4e2:	30 e0       	ldi	r19, 0x00	; 0
+ 4e4:	ca 32       	cpi	r28, 0x2A	; 42
+ 4e6:	d3 07       	cpc	r29, r19
+ 4e8:	a1 f7       	brne	.-24     	; 0x4d2 <write_default_values_to_eeprom+0x8>
+ 4ea:	8a e2       	ldi	r24, 0x2A	; 42
+ 4ec:	90 e0       	ldi	r25, 0x00	; 0
+#if	E2END <= 0xFF
+    EEARL = (size_t)__p;
+#else
+    EEAR = (size_t)__p;
+#endif
+    EEDR = __value;
+ 4ee:	22 e0       	ldi	r18, 0x02	; 2
+/** \ingroup avr_eeprom
+    Write a byte \a __value to EEPROM address \a __p.
+ */
+static __inline__ void eeprom_write_byte (uint8_t *__p, uint8_t __value)
+{
+    do {} while (!eeprom_is_ready ());
+ 4f0:	f9 99       	sbic	0x1f, 1	; 31
+ 4f2:	fe cf       	rjmp	.-4      	; 0x4f0 <write_default_values_to_eeprom+0x26>
+
+#if	defined(EEPM0) && defined(EEPM1)
+    EECR = 0;		/* Set programming mode: erase and write.	*/
+ 4f4:	1f ba       	out	0x1f, r1	; 31
+#endif
+
+#if	E2END <= 0xFF
+    EEARL = (size_t)__p;
+#else
+    EEAR = (size_t)__p;
+ 4f6:	92 bd       	out	0x22, r25	; 34
+ 4f8:	81 bd       	out	0x21, r24	; 33
+#endif
+    EEDR = __value;
+ 4fa:	20 bd       	out	0x20, r18	; 32
+
+    __asm__ __volatile__ (
+ 4fc:	0f b6       	in	r0, 0x3f	; 63
+ 4fe:	f8 94       	cli
+ 500:	fa 9a       	sbi	0x1f, 2	; 31
+ 502:	f9 9a       	sbi	0x1f, 1	; 31
+ 504:	0f be       	out	0x3f, r0	; 63
+ 506:	01 96       	adiw	r24, 0x01	; 1
+  { 
+     eeprom_write_word(&ppm_off_threshold_e[x], RC_PPM_OFF_THRESHOLD_VAL);
+  }
+for(x=0; x < (sizeof(rc_lost_channel_e)/sizeof(char)); x++)
+ 508:	30 e0       	ldi	r19, 0x00	; 0
+ 50a:	85 33       	cpi	r24, 0x35	; 53
+ 50c:	93 07       	cpc	r25, r19
+ 50e:	81 f7       	brne	.-32     	; 0x4f0 <write_default_values_to_eeprom+0x26>
+  { 
+     eeprom_write_byte(&rc_lost_channel_e[x], (RC_LOST_CHANNEL - 1));
+  }  
+rc_lost_channel = (RC_LOST_CHANNEL - 1);
+ 510:	82 e0       	ldi	r24, 0x02	; 2
+ 512:	80 93 12 01 	sts	0x0112, r24
+ppm_off_threshold = RC_PPM_OFF_THRESHOLD_VAL;
+ 516:	89 ee       	ldi	r24, 0xE9	; 233
+ 518:	97 e0       	ldi	r25, 0x07	; 7
+ 51a:	90 93 11 01 	sts	0x0111, r25
+ 51e:	80 93 10 01 	sts	0x0110, r24
+
+return;
+}
+ 522:	df 91       	pop	r29
+ 524:	cf 91       	pop	r28
+ 526:	08 95       	ret
+
+00000528 <check_for_setup_mode>:
+
+/*66666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666666*/
+/*77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777*/
+
+void check_for_setup_mode(void)
+{
+ 528:	0f 93       	push	r16
+ 52a:	1f 93       	push	r17
+ 52c:	cf 93       	push	r28
+ 52e:	df 93       	push	r29
+unsigned char x = 0;
+unsigned char y = 0;
+
+
+//We have to make sure that the setup mode is requested.  
+wdt_reset();
+ 530:	a8 95       	wdr
+x=0;
+y=0;
+setup_mode = 1;
+RESET_START_TIMER0();
+ 532:	15 bc       	out	0x25, r1	; 37
+ 534:	a8 9a       	sbi	0x15, 0	; 21
+ 536:	16 bc       	out	0x26, r1	; 38
+ 538:	10 92 1d 01 	sts	0x011D, r1
+ 53c:	82 e0       	ldi	r24, 0x02	; 2
+ 53e:	85 bd       	out	0x25, r24	; 37
+ 540:	90 e0       	ldi	r25, 0x00	; 0
+do{
+    if( (RC_SETUP_PIN_REG & (1<<RC_SETUP_PIN)) == 0){ x++; }else{ x=0; }
+ 542:	1c 9b       	sbis	0x03, 4	; 3
+ 544:	02 c0       	rjmp	.+4      	; 0x54a <check_for_setup_mode+0x22>
+ 546:	90 e0       	ldi	r25, 0x00	; 0
+ 548:	01 c0       	rjmp	.+2      	; 0x54c <check_for_setup_mode+0x24>
+ 54a:	9f 5f       	subi	r25, 0xFF	; 255
+      {
+         if(timer0.timer0[1] > RC_MAX_TIMEOUT_VAL ){setup_mode = 0; break; } 
+ 54c:	80 91 1d 01 	lds	r24, 0x011D
+ 550:	87 37       	cpi	r24, 0x77	; 119
+ 552:	08 f0       	brcs	.+2      	; 0x556 <check_for_setup_mode+0x2e>
+ 554:	e7 c0       	rjmp	.+462    	; 0x724 <check_for_setup_mode+0x1fc>
+      }
+
+  }while(x < 100);
+ 556:	94 36       	cpi	r25, 0x64	; 100
+ 558:	a0 f3       	brcs	.-24     	; 0x542 <check_for_setup_mode+0x1a>
+ 55a:	d9 c0       	rjmp	.+434    	; 0x70e <check_for_setup_mode+0x1e6>
+/****************************************************************************************************/
+     wdt_reset();
+     success = 0;
+     if(channels_in_use > 1 )
+      {
+         if( channel_mask & (1<<(RC_LOST_CHANNEL - 1)) )
+ 55c:	80 91 19 01 	lds	r24, 0x0119
+ 560:	82 ff       	sbrs	r24, 2
+ 562:	8e c0       	rjmp	.+284    	; 0x680 <check_for_setup_mode+0x158>
+          { 
+             rc_lost_channel = (RC_LOST_CHANNEL - 1); 
+ 564:	82 e0       	ldi	r24, 0x02	; 2
+ 566:	80 93 12 01 	sts	0x0112, r24
+ 56a:	8a e2       	ldi	r24, 0x2A	; 42
+ 56c:	90 e0       	ldi	r25, 0x00	; 0
+#if	E2END <= 0xFF
+    EEARL = (size_t)__p;
+#else
+    EEAR = (size_t)__p;
+#endif
+    EEDR = __value;
+ 56e:	22 e0       	ldi	r18, 0x02	; 2
+/** \ingroup avr_eeprom
+    Write a byte \a __value to EEPROM address \a __p.
+ */
+static __inline__ void eeprom_write_byte (uint8_t *__p, uint8_t __value)
+{
+    do {} while (!eeprom_is_ready ());
+ 570:	f9 99       	sbic	0x1f, 1	; 31
+ 572:	fe cf       	rjmp	.-4      	; 0x570 <check_for_setup_mode+0x48>
+
+#if	defined(EEPM0) && defined(EEPM1)
+    EECR = 0;		/* Set programming mode: erase and write.	*/
+ 574:	1f ba       	out	0x1f, r1	; 31
+#endif
+
+#if	E2END <= 0xFF
+    EEARL = (size_t)__p;
+#else
+    EEAR = (size_t)__p;
+ 576:	92 bd       	out	0x22, r25	; 34
+ 578:	81 bd       	out	0x21, r24	; 33
+#endif
+    EEDR = __value;
+ 57a:	20 bd       	out	0x20, r18	; 32
+
+    __asm__ __volatile__ (
+ 57c:	0f b6       	in	r0, 0x3f	; 63
+ 57e:	f8 94       	cli
+ 580:	fa 9a       	sbi	0x1f, 2	; 31
+ 582:	f9 9a       	sbi	0x1f, 1	; 31
+ 584:	0f be       	out	0x3f, r0	; 63
+ 586:	01 96       	adiw	r24, 0x01	; 1
+             for(x=0; x < (sizeof(rc_lost_channel_e)/sizeof(char)); x++)
+ 588:	30 e0       	ldi	r19, 0x00	; 0
+ 58a:	85 33       	cpi	r24, 0x35	; 53
+ 58c:	93 07       	cpc	r25, r19
+ 58e:	81 f7       	brne	.-32     	; 0x570 <check_for_setup_mode+0x48>
+ 590:	2e c0       	rjmp	.+92     	; 0x5ee <check_for_setup_mode+0xc6>
+                  eeprom_write_byte(&rc_lost_channel_e[x], rc_lost_channel);
+               } 
+             success += 1;
+          }
+ 
+      }else if(channels_in_use == 1)
+ 592:	81 30       	cpi	r24, 0x01	; 1
+ 594:	09 f0       	breq	.+2      	; 0x598 <check_for_setup_mode+0x70>
+ 596:	74 c0       	rjmp	.+232    	; 0x680 <check_for_setup_mode+0x158>
+             {
+               for(x=0; x < RC_SERVO_INPUT_CHANNELS; x++)
+                 {
+                   if(channel_mask & (1<<x))
+ 598:	80 91 19 01 	lds	r24, 0x0119
+ 59c:	48 2f       	mov	r20, r24
+ 59e:	50 e0       	ldi	r21, 0x00	; 0
+ 5a0:	20 e0       	ldi	r18, 0x00	; 0
+ 5a2:	30 e0       	ldi	r19, 0x00	; 0
+ 5a4:	62 2f       	mov	r22, r18
+ 5a6:	ca 01       	movw	r24, r20
+ 5a8:	02 2e       	mov	r0, r18
+ 5aa:	02 c0       	rjmp	.+4      	; 0x5b0 <check_for_setup_mode+0x88>
+ 5ac:	95 95       	asr	r25
+ 5ae:	87 95       	ror	r24
+ 5b0:	0a 94       	dec	r0
+ 5b2:	e2 f7       	brpl	.-8      	; 0x5ac <check_for_setup_mode+0x84>
+ 5b4:	80 ff       	sbrs	r24, 0
+ 5b6:	15 c0       	rjmp	.+42     	; 0x5e2 <check_for_setup_mode+0xba>
+                    { 
+                       rc_lost_channel = x;
+ 5b8:	20 93 12 01 	sts	0x0112, r18
+ 5bc:	8a e2       	ldi	r24, 0x2A	; 42
+ 5be:	90 e0       	ldi	r25, 0x00	; 0
+/** \ingroup avr_eeprom
+    Write a byte \a __value to EEPROM address \a __p.
+ */
+static __inline__ void eeprom_write_byte (uint8_t *__p, uint8_t __value)
+{
+    do {} while (!eeprom_is_ready ());
+ 5c0:	f9 99       	sbic	0x1f, 1	; 31
+ 5c2:	fe cf       	rjmp	.-4      	; 0x5c0 <check_for_setup_mode+0x98>
+
+#if	defined(EEPM0) && defined(EEPM1)
+    EECR = 0;		/* Set programming mode: erase and write.	*/
+ 5c4:	1f ba       	out	0x1f, r1	; 31
+#endif
+
+#if	E2END <= 0xFF
+    EEARL = (size_t)__p;
+#else
+    EEAR = (size_t)__p;
+ 5c6:	92 bd       	out	0x22, r25	; 34
+ 5c8:	81 bd       	out	0x21, r24	; 33
+#endif
+    EEDR = __value;
+ 5ca:	60 bd       	out	0x20, r22	; 32
+
+    __asm__ __volatile__ (
+ 5cc:	0f b6       	in	r0, 0x3f	; 63
+ 5ce:	f8 94       	cli
+ 5d0:	fa 9a       	sbi	0x1f, 2	; 31
+ 5d2:	f9 9a       	sbi	0x1f, 1	; 31
+ 5d4:	0f be       	out	0x3f, r0	; 63
+ 5d6:	01 96       	adiw	r24, 0x01	; 1
+                       for(x=0; x < (sizeof(rc_lost_channel_e)/sizeof(char)); x++)
+ 5d8:	40 e0       	ldi	r20, 0x00	; 0
+ 5da:	85 33       	cpi	r24, 0x35	; 53
+ 5dc:	94 07       	cpc	r25, r20
+ 5de:	81 f7       	brne	.-32     	; 0x5c0 <check_for_setup_mode+0x98>
+ 5e0:	06 c0       	rjmp	.+12     	; 0x5ee <check_for_setup_mode+0xc6>
+ 5e2:	2f 5f       	subi	r18, 0xFF	; 255
+ 5e4:	3f 4f       	sbci	r19, 0xFF	; 255
+             success += 1;
+          }
+ 
+      }else if(channels_in_use == 1)
+             {
+               for(x=0; x < RC_SERVO_INPUT_CHANNELS; x++)
+ 5e6:	28 30       	cpi	r18, 0x08	; 8
+ 5e8:	31 05       	cpc	r19, r1
+ 5ea:	e1 f6       	brne	.-72     	; 0x5a4 <check_for_setup_mode+0x7c>
+ 5ec:	49 c0       	rjmp	.+146    	; 0x680 <check_for_setup_mode+0x158>
+/****************************************************************************************************/
+/*   NOW WE NEED TO FIND THE THRESHOLD PULSE WIDTH THAT WILL BE USED AN A TX SIGNAL LOST TRIGGER    */
+/****************************************************************************************************/
+     if(success == 1)
+      {
+         wdt_reset();
+ 5ee:	a8 95       	wdr
+ 5f0:	c0 e0       	ldi	r28, 0x00	; 0
+ 5f2:	d0 e0       	ldi	r29, 0x00	; 0
+ 5f4:	10 e0       	ldi	r17, 0x00	; 0
+ 5f6:	00 e0       	ldi	r16, 0x00	; 0
+         y = 0;
+         pw_buffer = 0;
+         for(x=0; x < 10; x++)
+           {
+              pw=get_channel_pw(rc_lost_channel);
+ 5f8:	80 91 12 01 	lds	r24, 0x0112
+ 5fc:	0e 94 36 01 	call	0x26c	; 0x26c <get_channel_pw>
+ 600:	9c 01       	movw	r18, r24
+              if(pw >= RC_SERVO_MIN_PW_VAL && pw <= RC_SERVO_MAX_PW_VAL)
+ 602:	80 52       	subi	r24, 0x20	; 32
+ 604:	93 40       	sbci	r25, 0x03	; 3
+ 606:	89 57       	subi	r24, 0x79	; 121
+ 608:	95 40       	sbci	r25, 0x05	; 5
+ 60a:	18 f4       	brcc	.+6      	; 0x612 <check_for_setup_mode+0xea>
+               {
+                  pw_buffer += pw;
+ 60c:	c2 0f       	add	r28, r18
+ 60e:	d3 1f       	adc	r29, r19
+                  y++;        
+ 610:	0f 5f       	subi	r16, 0xFF	; 255
+     if(success == 1)
+      {
+         wdt_reset();
+         y = 0;
+         pw_buffer = 0;
+         for(x=0; x < 10; x++)
+ 612:	1f 5f       	subi	r17, 0xFF	; 255
+ 614:	1a 30       	cpi	r17, 0x0A	; 10
+ 616:	81 f7       	brne	.-32     	; 0x5f8 <check_for_setup_mode+0xd0>
+               {
+                  pw_buffer += pw;
+                  y++;        
+               }
+           }
+         pw_buffer /= y;
+ 618:	ce 01       	movw	r24, r28
+ 61a:	60 2f       	mov	r22, r16
+ 61c:	70 e0       	ldi	r23, 0x00	; 0
+ 61e:	0e 94 f9 05 	call	0xbf2	; 0xbf2 <__udivmodhi4>
+         wdt_reset();
+ 622:	a8 95       	wdr
+         if( (pw_buffer >= RC_PPM_OFF_UPPER_WINDOW_VAL) && (pw_buffer <= RC_SERVO_MAX_PW_VAL) )
+ 624:	cb 01       	movw	r24, r22
+ 626:	84 5a       	subi	r24, 0xA4	; 164
+ 628:	96 40       	sbci	r25, 0x06	; 6
+ 62a:	85 5f       	subi	r24, 0xF5	; 245
+ 62c:	91 40       	sbci	r25, 0x01	; 1
+ 62e:	88 f4       	brcc	.+34     	; 0x652 <check_for_setup_mode+0x12a>
+ 630:	c4 e1       	ldi	r28, 0x14	; 20
+ 632:	d0 e0       	ldi	r29, 0x00	; 0
+    Write a word \a __value to EEPROM address \a __p.
+ */
+static __inline__ void eeprom_write_word (uint16_t *__p, uint16_t __value)
+{
+#if (! (defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__)) )
+    __eewr_word (__p, __value, eeprom_write_byte);
+ 634:	8b 01       	movw	r16, r22
+ 636:	07 5e       	subi	r16, 0xE7	; 231
+ 638:	1f 4f       	sbci	r17, 0xFF	; 255
+ 63a:	ce 01       	movw	r24, r28
+ 63c:	b8 01       	movw	r22, r16
+ 63e:	4b e5       	ldi	r20, 0x5B	; 91
+ 640:	50 e0       	ldi	r21, 0x00	; 0
+ 642:	0e 94 e4 05 	call	0xbc8	; 0xbc8 <__eewr_word>
+ 646:	22 96       	adiw	r28, 0x02	; 2
+          {
+             for(x=0; x<(sizeof(ppm_off_threshold_e)/sizeof(int)); x++)
+ 648:	80 e0       	ldi	r24, 0x00	; 0
+ 64a:	ca 32       	cpi	r28, 0x2A	; 42
+ 64c:	d8 07       	cpc	r29, r24
+ 64e:	a9 f7       	brne	.-22     	; 0x63a <check_for_setup_mode+0x112>
+ 650:	65 c0       	rjmp	.+202    	; 0x71c <check_for_setup_mode+0x1f4>
+               { 
+                 eeprom_write_word(&ppm_off_threshold_e[x], (pw_buffer+RC_PPM_OFF_OFFSET_VAL));
+               } 
+             success += 1;
+
+         }else if( (pw_buffer <= RC_PPM_OFF_LOWER_WINDOW_VAL) && (pw_buffer >= RC_SERVO_MIN_PW_VAL) )
+ 652:	cb 01       	movw	r24, r22
+ 654:	80 52       	subi	r24, 0x20	; 32
+ 656:	93 40       	sbci	r25, 0x03	; 3
+ 658:	85 5f       	subi	r24, 0xF5	; 245
+ 65a:	91 40       	sbci	r25, 0x01	; 1
+ 65c:	88 f4       	brcc	.+34     	; 0x680 <check_for_setup_mode+0x158>
+ 65e:	c4 e1       	ldi	r28, 0x14	; 20
+ 660:	d0 e0       	ldi	r29, 0x00	; 0
+ 662:	8b 01       	movw	r16, r22
+ 664:	09 51       	subi	r16, 0x19	; 25
+ 666:	10 40       	sbci	r17, 0x00	; 0
+ 668:	ce 01       	movw	r24, r28
+ 66a:	b8 01       	movw	r22, r16
+ 66c:	4b e5       	ldi	r20, 0x5B	; 91
+ 66e:	50 e0       	ldi	r21, 0x00	; 0
+ 670:	0e 94 e4 05 	call	0xbc8	; 0xbc8 <__eewr_word>
+ 674:	22 96       	adiw	r28, 0x02	; 2
+                {
+                   for(x=0; x<(sizeof(ppm_off_threshold_e)/sizeof(int)); x++)
+ 676:	80 e0       	ldi	r24, 0x00	; 0
+ 678:	ca 32       	cpi	r28, 0x2A	; 42
+ 67a:	d8 07       	cpc	r29, r24
+ 67c:	a9 f7       	brne	.-22     	; 0x668 <check_for_setup_mode+0x140>
+ 67e:	4e c0       	rjmp	.+156    	; 0x71c <check_for_setup_mode+0x1f4>
+                   while(timer0.timer0[1] < RC_MAX_TIMEOUT_VAL ); 
+                 }
+            }
+
+      }else{ 
+              write_default_values_to_eeprom();
+ 680:	0e 94 65 02 	call	0x4ca	; 0x4ca <write_default_values_to_eeprom>
+                  {
+                     LED_ON(); 
+                     for(x=0; x<30; x++)
+                       {
+                         wdt_reset();
+                         RESET_START_TIMER0();
+ 684:	32 e0       	ldi	r19, 0x02	; 2
+ 686:	22 e0       	ldi	r18, 0x02	; 2
+ 688:	21 c0       	rjmp	.+66     	; 0x6cc <check_for_setup_mode+0x1a4>
+     if(success == 2)
+      { 
+        RC_SETUP_PORT_OUT_REG &= (~(1<<RC_SETUP_PIN));
+        while(1)
+            {
+              LED_ON(); 
+ 68a:	28 9a       	sbi	0x05, 0	; 5
+ 68c:	90 e0       	ldi	r25, 0x00	; 0
+              for(x=0; x<3; x++)
+                 {
+                   wdt_reset();
+ 68e:	a8 95       	wdr
+                   RESET_START_TIMER0();
+ 690:	15 bc       	out	0x25, r1	; 37
+ 692:	a8 9a       	sbi	0x15, 0	; 21
+ 694:	16 bc       	out	0x26, r1	; 38
+ 696:	10 92 1d 01 	sts	0x011D, r1
+ 69a:	25 bd       	out	0x25, r18	; 37
+                   /* delay ~30 ms * 3  = 100 milliseconds */
+                   while(timer0.timer0[1] < RC_MAX_TIMEOUT_VAL ); 
+ 69c:	80 91 1d 01 	lds	r24, 0x011D
+ 6a0:	86 37       	cpi	r24, 0x76	; 118
+ 6a2:	e0 f3       	brcs	.-8      	; 0x69c <check_for_setup_mode+0x174>
+      { 
+        RC_SETUP_PORT_OUT_REG &= (~(1<<RC_SETUP_PIN));
+        while(1)
+            {
+              LED_ON(); 
+              for(x=0; x<3; x++)
+ 6a4:	9f 5f       	subi	r25, 0xFF	; 255
+ 6a6:	93 30       	cpi	r25, 0x03	; 3
+ 6a8:	91 f7       	brne	.-28     	; 0x68e <check_for_setup_mode+0x166>
+                   wdt_reset();
+                   RESET_START_TIMER0();
+                   /* delay ~30 ms * 3  = 100 milliseconds */
+                   while(timer0.timer0[1] < RC_MAX_TIMEOUT_VAL ); 
+                 }
+               LED_OFF();
+ 6aa:	28 98       	cbi	0x05, 0	; 5
+ 6ac:	90 e0       	ldi	r25, 0x00	; 0
+               for(x=0; x<30; x++)
+                 {
+                   wdt_reset();
+ 6ae:	a8 95       	wdr
+                   RESET_START_TIMER0();
+ 6b0:	15 bc       	out	0x25, r1	; 37
+ 6b2:	a8 9a       	sbi	0x15, 0	; 21
+ 6b4:	16 bc       	out	0x26, r1	; 38
+ 6b6:	10 92 1d 01 	sts	0x011D, r1
+ 6ba:	35 bd       	out	0x25, r19	; 37
+                   /* delay ~30 ms * 30  = 900 milliseconds */
+                   while(timer0.timer0[1] < RC_MAX_TIMEOUT_VAL ); 
+ 6bc:	80 91 1d 01 	lds	r24, 0x011D
+ 6c0:	86 37       	cpi	r24, 0x76	; 118
+ 6c2:	e0 f3       	brcs	.-8      	; 0x6bc <check_for_setup_mode+0x194>
+                   RESET_START_TIMER0();
+                   /* delay ~30 ms * 3  = 100 milliseconds */
+                   while(timer0.timer0[1] < RC_MAX_TIMEOUT_VAL ); 
+                 }
+               LED_OFF();
+               for(x=0; x<30; x++)
+ 6c4:	9f 5f       	subi	r25, 0xFF	; 255
+ 6c6:	9e 31       	cpi	r25, 0x1E	; 30
+ 6c8:	91 f7       	brne	.-28     	; 0x6ae <check_for_setup_mode+0x186>
+ 6ca:	df cf       	rjmp	.-66     	; 0x68a <check_for_setup_mode+0x162>
+
+      }else{ 
+              write_default_values_to_eeprom();
+              while(1)
+                  {
+                     LED_ON(); 
+ 6cc:	28 9a       	sbi	0x05, 0	; 5
+ 6ce:	90 e0       	ldi	r25, 0x00	; 0
+                     for(x=0; x<30; x++)
+                       {
+                         wdt_reset();
+ 6d0:	a8 95       	wdr
+                         RESET_START_TIMER0();
+ 6d2:	15 bc       	out	0x25, r1	; 37
+ 6d4:	a8 9a       	sbi	0x15, 0	; 21
+ 6d6:	16 bc       	out	0x26, r1	; 38
+ 6d8:	10 92 1d 01 	sts	0x011D, r1
+ 6dc:	25 bd       	out	0x25, r18	; 37
+                         /* delay ~30 ms * 30  = 900 milliseconds */
+                         while(timer0.timer0[1] < RC_MAX_TIMEOUT_VAL ); 
+ 6de:	80 91 1d 01 	lds	r24, 0x011D
+ 6e2:	86 37       	cpi	r24, 0x76	; 118
+ 6e4:	e0 f3       	brcs	.-8      	; 0x6de <check_for_setup_mode+0x1b6>
+      }else{ 
+              write_default_values_to_eeprom();
+              while(1)
+                  {
+                     LED_ON(); 
+                     for(x=0; x<30; x++)
+ 6e6:	9f 5f       	subi	r25, 0xFF	; 255
+ 6e8:	9e 31       	cpi	r25, 0x1E	; 30
+ 6ea:	91 f7       	brne	.-28     	; 0x6d0 <check_for_setup_mode+0x1a8>
+                         wdt_reset();
+                         RESET_START_TIMER0();
+                         /* delay ~30 ms * 30  = 900 milliseconds */
+                         while(timer0.timer0[1] < RC_MAX_TIMEOUT_VAL ); 
+                       }
+                     LED_OFF();
+ 6ec:	28 98       	cbi	0x05, 0	; 5
+ 6ee:	90 e0       	ldi	r25, 0x00	; 0
+                     for(x=0; x<3; x++)
+                       {
+                          wdt_reset();
+ 6f0:	a8 95       	wdr
+                          RESET_START_TIMER0();
+ 6f2:	15 bc       	out	0x25, r1	; 37
+ 6f4:	a8 9a       	sbi	0x15, 0	; 21
+ 6f6:	16 bc       	out	0x26, r1	; 38
+ 6f8:	10 92 1d 01 	sts	0x011D, r1
+ 6fc:	35 bd       	out	0x25, r19	; 37
+                          /* delay ~30 ms * 3  = 100 milliseconds */
+                          while(timer0.timer0[1] < RC_MAX_TIMEOUT_VAL ); 
+ 6fe:	80 91 1d 01 	lds	r24, 0x011D
+ 702:	86 37       	cpi	r24, 0x76	; 118
+ 704:	e0 f3       	brcs	.-8      	; 0x6fe <check_for_setup_mode+0x1d6>
+                         RESET_START_TIMER0();
+                         /* delay ~30 ms * 30  = 900 milliseconds */
+                         while(timer0.timer0[1] < RC_MAX_TIMEOUT_VAL ); 
+                       }
+                     LED_OFF();
+                     for(x=0; x<3; x++)
+ 706:	9f 5f       	subi	r25, 0xFF	; 255
+ 708:	93 30       	cpi	r25, 0x03	; 3
+ 70a:	91 f7       	brne	.-28     	; 0x6f0 <check_for_setup_mode+0x1c8>
+ 70c:	df cf       	rjmp	.-66     	; 0x6cc <check_for_setup_mode+0x1a4>
+if(setup_mode)
+ {
+/****************************************************************************************************/
+/*             FIRST WE MUST FIND WHICH CHANNEL WILL BE USED AS A TX SIGNAL LOST INDICATOR          */
+/****************************************************************************************************/
+     wdt_reset();
+ 70e:	a8 95       	wdr
+     success = 0;
+     if(channels_in_use > 1 )
+ 710:	80 91 18 01 	lds	r24, 0x0118
+ 714:	82 30       	cpi	r24, 0x02	; 2
+ 716:	08 f0       	brcs	.+2      	; 0x71a <check_for_setup_mode+0x1f2>
+ 718:	21 cf       	rjmp	.-446    	; 0x55c <check_for_setup_mode+0x34>
+ 71a:	3b cf       	rjmp	.-394    	; 0x592 <check_for_setup_mode+0x6a>
+/****************************************************************************************************/
+/*            LASTLY WE MUST INDICATE TO THE USER IF THE SETUP PROCEDURE WAS SUCCESSFUL             */
+/****************************************************************************************************/     
+     if(success == 2)
+      { 
+        RC_SETUP_PORT_OUT_REG &= (~(1<<RC_SETUP_PIN));
+ 71c:	2c 98       	cbi	0x05, 4	; 5
+            {
+              LED_ON(); 
+              for(x=0; x<3; x++)
+                 {
+                   wdt_reset();
+                   RESET_START_TIMER0();
+ 71e:	32 e0       	ldi	r19, 0x02	; 2
+ 720:	22 e0       	ldi	r18, 0x02	; 2
+ 722:	b3 cf       	rjmp	.-154    	; 0x68a <check_for_setup_mode+0x162>
+           }
+
+ } // End of "if(setup_mode)" statement.
+
+return;
+}
+ 724:	df 91       	pop	r29
+ 726:	cf 91       	pop	r28
+ 728:	1f 91       	pop	r17
+ 72a:	0f 91       	pop	r16
+ 72c:	08 95       	ret
+
+0000072e <load_values_from_eeprom>:
+11 copies of each variable are read and if more than 50% + 1 values are the same and within limits
+this value is taken to be valid.
+If not all 11 values are the same then the array is written again with this 50% +1 value. 
+*/
+void load_values_from_eeprom(void)
+{
+ 72e:	6f 92       	push	r6
+ 730:	7f 92       	push	r7
+ 732:	8f 92       	push	r8
+ 734:	9f 92       	push	r9
+ 736:	bf 92       	push	r11
+ 738:	cf 92       	push	r12
+ 73a:	df 92       	push	r13
+ 73c:	ef 92       	push	r14
+ 73e:	ff 92       	push	r15
+ 740:	0f 93       	push	r16
+ 742:	1f 93       	push	r17
+ 744:	cf 93       	push	r28
+ 746:	df 93       	push	r29
+unsigned char match_upper_limit = 0;
+unsigned char match_lower_limit = 0;
+unsigned char x = 0;
+unsigned char y = 0;
+
+wdt_reset();
+ 748:	a8 95       	wdr
+ 74a:	6a e2       	ldi	r22, 0x2A	; 42
+ 74c:	70 e0       	ldi	r23, 0x00	; 0
+ 74e:	ab 01       	movw	r20, r22
+11 copies of each variable are read and if more than 50% + 1 values are the same and within limits
+this value is taken to be valid.
+If not all 11 values are the same then the array is written again with this 50% +1 value. 
+*/
+void load_values_from_eeprom(void)
+{
+ 750:	eb 01       	movw	r28, r22
+ 752:	2b 96       	adiw	r28, 0x0b	; 11
+/** \ingroup avr_eeprom
+    Read one byte from EEPROM address \a __p.
+ */
+__ATTR_PURE__ static __inline__ uint8_t eeprom_read_byte (const uint8_t *__p)
+{
+    do {} while (!eeprom_is_ready ());
+ 754:	f9 99       	sbic	0x1f, 1	; 31
+ 756:	fe cf       	rjmp	.-4      	; 0x754 <load_values_from_eeprom+0x26>
+#if E2END <= 0xFF
+    EEARL = (size_t)__p;
+#else
+    EEAR = (size_t)__p;
+ 758:	52 bd       	out	0x22, r21	; 34
+ 75a:	41 bd       	out	0x21, r20	; 33
+    /* Use inline assembly below as some AVRs have problems with accessing
+    EECR with STS instructions. For example, see errata for ATmega64. 
+    The code below also assumes that EECR and EEDR are in the I/O space.
+    */
+    uint8_t __result;
+    __asm__ __volatile__
+ 75c:	f8 9a       	sbi	0x1f, 0	; 31
+ 75e:	f0 b5       	in	r31, 0x20	; 32
+match_lower_limit = (((sizeof(rc_lost_channel_e)/sizeof(char))/2)+1);
+
+for(x=0; x<match_upper_limit; x++)
+  {
+    match = 0;
+    eeprom_buf_x = eeprom_read_byte(&rc_lost_channel_e[x]); 
+ 760:	af 2f       	mov	r26, r31
+ 762:	b0 e0       	ldi	r27, 0x00	; 0
+ 764:	2a e2       	ldi	r18, 0x2A	; 42
+ 766:	30 e0       	ldi	r19, 0x00	; 0
+ 768:	e0 e0       	ldi	r30, 0x00	; 0
+/** \ingroup avr_eeprom
+    Read one byte from EEPROM address \a __p.
+ */
+__ATTR_PURE__ static __inline__ uint8_t eeprom_read_byte (const uint8_t *__p)
+{
+    do {} while (!eeprom_is_ready ());
+ 76a:	f9 99       	sbic	0x1f, 1	; 31
+ 76c:	fe cf       	rjmp	.-4      	; 0x76a <load_values_from_eeprom+0x3c>
+#if E2END <= 0xFF
+    EEARL = (size_t)__p;
+#else
+    EEAR = (size_t)__p;
+ 76e:	32 bd       	out	0x22, r19	; 34
+ 770:	21 bd       	out	0x21, r18	; 33
+    /* Use inline assembly below as some AVRs have problems with accessing
+    EECR with STS instructions. For example, see errata for ATmega64. 
+    The code below also assumes that EECR and EEDR are in the I/O space.
+    */
+    uint8_t __result;
+    __asm__ __volatile__
+ 772:	f8 9a       	sbi	0x1f, 0	; 31
+ 774:	80 b5       	in	r24, 0x20	; 32
+    for(y=0; y<match_upper_limit; y++)
+      {
+         eeprom_buf_y = eeprom_read_byte(&rc_lost_channel_e[y]);
+         if(eeprom_buf_y == eeprom_buf_x){ match++; }
+ 776:	90 e0       	ldi	r25, 0x00	; 0
+ 778:	8a 17       	cp	r24, r26
+ 77a:	9b 07       	cpc	r25, r27
+ 77c:	09 f4       	brne	.+2      	; 0x780 <load_values_from_eeprom+0x52>
+ 77e:	ef 5f       	subi	r30, 0xFF	; 255
+ 780:	2f 5f       	subi	r18, 0xFF	; 255
+ 782:	3f 4f       	sbci	r19, 0xFF	; 255
+11 copies of each variable are read and if more than 50% + 1 values are the same and within limits
+this value is taken to be valid.
+If not all 11 values are the same then the array is written again with this 50% +1 value. 
+*/
+void load_values_from_eeprom(void)
+{
+ 784:	85 e3       	ldi	r24, 0x35	; 53
+ 786:	90 e0       	ldi	r25, 0x00	; 0
+
+for(x=0; x<match_upper_limit; x++)
+  {
+    match = 0;
+    eeprom_buf_x = eeprom_read_byte(&rc_lost_channel_e[x]); 
+    for(y=0; y<match_upper_limit; y++)
+ 788:	c2 17       	cp	r28, r18
+ 78a:	d3 07       	cpc	r29, r19
+ 78c:	71 f7       	brne	.-36     	; 0x76a <load_values_from_eeprom+0x3c>
+         eeprom_buf_y = eeprom_read_byte(&rc_lost_channel_e[y]);
+         if(eeprom_buf_y == eeprom_buf_x){ match++; }
+      }
+    // If 50% +1 or more char values in the array are the same a match has been found. 
+    // Now test them to see if they are within limits.
+    if(match >= match_lower_limit )
+ 78e:	e6 30       	cpi	r30, 0x06	; 6
+ 790:	c0 f0       	brcs	.+48     	; 0x7c2 <load_values_from_eeprom+0x94>
+     {
+        if( eeprom_buf_x < RC_SERVO_INPUT_CHANNELS )
+ 792:	18 97       	sbiw	r26, 0x08	; 8
+ 794:	08 f0       	brcs	.+2      	; 0x798 <load_values_from_eeprom+0x6a>
+ 796:	7b c0       	rjmp	.+246    	; 0x88e <load_values_from_eeprom+0x160>
+         {
+           rc_lost_channel = eeprom_buf_x; //Load the stored value to throttle_thershold.
+ 798:	f0 93 12 01 	sts	0x0112, r31
+           if(match < match_upper_limit)
+ 79c:	eb 30       	cpi	r30, 0x0B	; 11
+ 79e:	c0 f4       	brcc	.+48     	; 0x7d0 <load_values_from_eeprom+0xa2>
+/** \ingroup avr_eeprom
+    Write a byte \a __value to EEPROM address \a __p.
+ */
+static __inline__ void eeprom_write_byte (uint8_t *__p, uint8_t __value)
+{
+    do {} while (!eeprom_is_ready ());
+ 7a0:	f9 99       	sbic	0x1f, 1	; 31
+ 7a2:	fe cf       	rjmp	.-4      	; 0x7a0 <load_values_from_eeprom+0x72>
+
+#if	defined(EEPM0) && defined(EEPM1)
+    EECR = 0;		/* Set programming mode: erase and write.	*/
+ 7a4:	1f ba       	out	0x1f, r1	; 31
+#endif
+
+#if	E2END <= 0xFF
+    EEARL = (size_t)__p;
+#else
+    EEAR = (size_t)__p;
+ 7a6:	72 bd       	out	0x22, r23	; 34
+ 7a8:	61 bd       	out	0x21, r22	; 33
+#endif
+    EEDR = __value;
+ 7aa:	f0 bd       	out	0x20, r31	; 32
+
+    __asm__ __volatile__ (
+ 7ac:	0f b6       	in	r0, 0x3f	; 63
+ 7ae:	f8 94       	cli
+ 7b0:	fa 9a       	sbi	0x1f, 2	; 31
+ 7b2:	f9 9a       	sbi	0x1f, 1	; 31
+ 7b4:	0f be       	out	0x3f, r0	; 63
+ 7b6:	6f 5f       	subi	r22, 0xFF	; 255
+ 7b8:	7f 4f       	sbci	r23, 0xFF	; 255
+            {
+               for(x=0; x<match_upper_limit; x++)
+ 7ba:	86 17       	cp	r24, r22
+ 7bc:	97 07       	cpc	r25, r23
+ 7be:	81 f7       	brne	.-32     	; 0x7a0 <load_values_from_eeprom+0x72>
+ 7c0:	07 c0       	rjmp	.+14     	; 0x7d0 <load_values_from_eeprom+0xa2>
+ 7c2:	4f 5f       	subi	r20, 0xFF	; 255
+ 7c4:	5f 4f       	sbci	r21, 0xFF	; 255
+/*                 READ WHICH CHANNEL WILL BE USED AS A RX LOST INDICATOR                           */
+/****************************************************************************************************/ 
+match_upper_limit = (sizeof(rc_lost_channel_e)/sizeof(char));
+match_lower_limit = (((sizeof(rc_lost_channel_e)/sizeof(char))/2)+1);
+
+for(x=0; x<match_upper_limit; x++)
+ 7c6:	c4 17       	cp	r28, r20
+ 7c8:	d5 07       	cpc	r29, r21
+ 7ca:	09 f0       	breq	.+2      	; 0x7ce <load_values_from_eeprom+0xa0>
+ 7cc:	c3 cf       	rjmp	.-122    	; 0x754 <load_values_from_eeprom+0x26>
+ 7ce:	5f c0       	rjmp	.+190    	; 0x88e <load_values_from_eeprom+0x160>
+         }else{ match = 0; }
+        break;
+     }
+  }
+
+if( match < match_lower_limit ){ write_default_values_to_eeprom();  return; }
+ 7d0:	04 e1       	ldi	r16, 0x14	; 20
+ 7d2:	10 e0       	ldi	r17, 0x00	; 0
+ 7d4:	68 01       	movw	r12, r16
+11 copies of each variable are read and if more than 50% + 1 values are the same and within limits
+this value is taken to be valid.
+If not all 11 values are the same then the array is written again with this 50% +1 value. 
+*/
+void load_values_from_eeprom(void)
+{
+ 7d6:	26 e1       	ldi	r18, 0x16	; 22
+ 7d8:	82 2e       	mov	r8, r18
+ 7da:	91 2c       	mov	r9, r1
+ 7dc:	80 0e       	add	r8, r16
+ 7de:	91 1e       	adc	r9, r17
+    Read one 16-bit word (little endian) from EEPROM address \a __p.
+ */
+__ATTR_PURE__ static __inline__ uint16_t eeprom_read_word (const uint16_t *__p)
+{
+#if (! (defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__)) )
+    return __eerd_word (__p, eeprom_read_byte);
+ 7e0:	c6 01       	movw	r24, r12
+ 7e2:	63 e5       	ldi	r22, 0x53	; 83
+ 7e4:	70 e0       	ldi	r23, 0x00	; 0
+ 7e6:	0e 94 ce 05 	call	0xb9c	; 0xb9c <__eerd_word>
+ 7ea:	7c 01       	movw	r14, r24
+ 7ec:	c4 e1       	ldi	r28, 0x14	; 20
+ 7ee:	d0 e0       	ldi	r29, 0x00	; 0
+ 7f0:	bb 24       	eor	r11, r11
+    match = 0;
+    eeprom_buf_x = eeprom_read_word(&ppm_off_threshold_e[x]); 
+    for(y=0; y < match_upper_limit; y++)
+      {
+         eeprom_buf_y = eeprom_read_word(&ppm_off_threshold_e[y]);
+         if(eeprom_buf_y == eeprom_buf_x){ match++; }
+ 7f2:	ce 01       	movw	r24, r28
+ 7f4:	63 e5       	ldi	r22, 0x53	; 83
+ 7f6:	70 e0       	ldi	r23, 0x00	; 0
+ 7f8:	0e 94 ce 05 	call	0xb9c	; 0xb9c <__eerd_word>
+ 7fc:	8e 15       	cp	r24, r14
+ 7fe:	9f 05       	cpc	r25, r15
+ 800:	09 f4       	brne	.+2      	; 0x804 <load_values_from_eeprom+0xd6>
+ 802:	b3 94       	inc	r11
+ 804:	22 96       	adiw	r28, 0x02	; 2
+11 copies of each variable are read and if more than 50% + 1 values are the same and within limits
+this value is taken to be valid.
+If not all 11 values are the same then the array is written again with this 50% +1 value. 
+*/
+void load_values_from_eeprom(void)
+{
+ 806:	9a e2       	ldi	r25, 0x2A	; 42
+ 808:	69 2e       	mov	r6, r25
+ 80a:	90 e0       	ldi	r25, 0x00	; 0
+ 80c:	79 2e       	mov	r7, r25
+
+for(x=0; x < match_upper_limit; x++)
+  {
+    match = 0;
+    eeprom_buf_x = eeprom_read_word(&ppm_off_threshold_e[x]); 
+    for(y=0; y < match_upper_limit; y++)
+ 80e:	8c 16       	cp	r8, r28
+ 810:	9d 06       	cpc	r9, r29
+ 812:	79 f7       	brne	.-34     	; 0x7f2 <load_values_from_eeprom+0xc4>
+         eeprom_buf_y = eeprom_read_word(&ppm_off_threshold_e[y]);
+         if(eeprom_buf_y == eeprom_buf_x){ match++; }
+      }
+    // If 50% +1 or more integer values in the array are the same a match has been found. 
+    // Now test them to see if they are within limits.
+    if(match >= match_lower_limit )
+ 814:	25 e0       	ldi	r18, 0x05	; 5
+ 816:	2b 15       	cp	r18, r11
+ 818:	90 f5       	brcc	.+100    	; 0x87e <load_values_from_eeprom+0x150>
+     {
+        if( (eeprom_buf_x >= RC_PPM_OFF_UPPER_WINDOW_VAL) && (eeprom_buf_x <= RC_SERVO_MAX_PW_VAL) )
+ 81a:	c7 01       	movw	r24, r14
+ 81c:	84 5a       	subi	r24, 0xA4	; 164
+ 81e:	96 40       	sbci	r25, 0x06	; 6
+ 820:	85 5f       	subi	r24, 0xF5	; 245
+ 822:	91 40       	sbci	r25, 0x01	; 1
+ 824:	98 f4       	brcc	.+38     	; 0x84c <load_values_from_eeprom+0x11e>
+         {
+            ppm_off_threshold = eeprom_buf_x; //Load the stored value to throttle_thershold.
+ 826:	f0 92 11 01 	sts	0x0111, r15
+ 82a:	e0 92 10 01 	sts	0x0110, r14
+            if(match < match_upper_limit)
+ 82e:	8a e0       	ldi	r24, 0x0A	; 10
+ 830:	8b 15       	cp	r24, r11
+ 832:	78 f1       	brcs	.+94     	; 0x892 <load_values_from_eeprom+0x164>
+    Write a word \a __value to EEPROM address \a __p.
+ */
+static __inline__ void eeprom_write_word (uint16_t *__p, uint16_t __value)
+{
+#if (! (defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__)) )
+    __eewr_word (__p, __value, eeprom_write_byte);
+ 834:	c8 01       	movw	r24, r16
+ 836:	b7 01       	movw	r22, r14
+ 838:	4b e5       	ldi	r20, 0x5B	; 91
+ 83a:	50 e0       	ldi	r21, 0x00	; 0
+ 83c:	0e 94 e4 05 	call	0xbc8	; 0xbc8 <__eewr_word>
+ 840:	0e 5f       	subi	r16, 0xFE	; 254
+ 842:	1f 4f       	sbci	r17, 0xFF	; 255
+             {
+               for(x=0; x < match_upper_limit; x++){ eeprom_write_word(&ppm_off_threshold_e[x], eeprom_buf_x); }
+ 844:	60 16       	cp	r6, r16
+ 846:	71 06       	cpc	r7, r17
+ 848:	a9 f7       	brne	.-22     	; 0x834 <load_values_from_eeprom+0x106>
+ 84a:	23 c0       	rjmp	.+70     	; 0x892 <load_values_from_eeprom+0x164>
+             }
+        
+          }else if( (eeprom_buf_x <= RC_PPM_OFF_LOWER_WINDOW_VAL) && (eeprom_buf_x >= RC_SERVO_MIN_PW_VAL) )
+ 84c:	c7 01       	movw	r24, r14
+ 84e:	80 52       	subi	r24, 0x20	; 32
+ 850:	93 40       	sbci	r25, 0x03	; 3
+ 852:	85 5f       	subi	r24, 0xF5	; 245
+ 854:	91 40       	sbci	r25, 0x01	; 1
+ 856:	d8 f4       	brcc	.+54     	; 0x88e <load_values_from_eeprom+0x160>
+                 {
+                    ppm_off_threshold = eeprom_buf_x; //Load the stored value to throttle_thershold.
+ 858:	f0 92 11 01 	sts	0x0111, r15
+ 85c:	e0 92 10 01 	sts	0x0110, r14
+                    if(match < match_upper_limit)
+ 860:	8a e0       	ldi	r24, 0x0A	; 10
+ 862:	8b 15       	cp	r24, r11
+ 864:	b0 f0       	brcs	.+44     	; 0x892 <load_values_from_eeprom+0x164>
+ 866:	c8 01       	movw	r24, r16
+ 868:	b7 01       	movw	r22, r14
+ 86a:	4b e5       	ldi	r20, 0x5B	; 91
+ 86c:	50 e0       	ldi	r21, 0x00	; 0
+ 86e:	0e 94 e4 05 	call	0xbc8	; 0xbc8 <__eewr_word>
+ 872:	0e 5f       	subi	r16, 0xFE	; 254
+ 874:	1f 4f       	sbci	r17, 0xFF	; 255
+                     {
+                       for(x=0; x < match_upper_limit; x++){ eeprom_write_word(&ppm_off_threshold_e[x], eeprom_buf_x); }
+ 876:	60 16       	cp	r6, r16
+ 878:	71 06       	cpc	r7, r17
+ 87a:	a9 f7       	brne	.-22     	; 0x866 <load_values_from_eeprom+0x138>
+ 87c:	0a c0       	rjmp	.+20     	; 0x892 <load_values_from_eeprom+0x164>
+ 87e:	82 e0       	ldi	r24, 0x02	; 2
+ 880:	90 e0       	ldi	r25, 0x00	; 0
+ 882:	c8 0e       	add	r12, r24
+ 884:	d9 1e       	adc	r13, r25
+/*             NOW READ THE CHANNEL'S PULSE WIDTH SO IT CAN BE USED AS A TRIGGER                    */
+/****************************************************************************************************/ 
+match_upper_limit = (sizeof(ppm_off_threshold_e)/sizeof(int));
+match_lower_limit = (((sizeof(ppm_off_threshold_e)/sizeof(int))/2)+1);
+
+for(x=0; x < match_upper_limit; x++)
+ 886:	8c 14       	cp	r8, r12
+ 888:	9d 04       	cpc	r9, r13
+ 88a:	09 f0       	breq	.+2      	; 0x88e <load_values_from_eeprom+0x160>
+ 88c:	a9 cf       	rjmp	.-174    	; 0x7e0 <load_values_from_eeprom+0xb2>
+                 }else{ match = 0; }
+        break;
+     }
+  }
+
+if( match < match_lower_limit ){ write_default_values_to_eeprom();  return; }
+ 88e:	0e 94 65 02 	call	0x4ca	; 0x4ca <write_default_values_to_eeprom>
+
+
+return;
+}
+ 892:	df 91       	pop	r29
+ 894:	cf 91       	pop	r28
+ 896:	1f 91       	pop	r17
+ 898:	0f 91       	pop	r16
+ 89a:	ff 90       	pop	r15
+ 89c:	ef 90       	pop	r14
+ 89e:	df 90       	pop	r13
+ 8a0:	cf 90       	pop	r12
+ 8a2:	bf 90       	pop	r11
+ 8a4:	9f 90       	pop	r9
+ 8a6:	8f 90       	pop	r8
+ 8a8:	7f 90       	pop	r7
+ 8aa:	6f 90       	pop	r6
+ 8ac:	08 95       	ret
+
+000008ae <main>:
+
+/********************************************************************************************************/
+/*                                         MAIN FUNCTION                                                */
+/********************************************************************************************************/
+__attribute__((noreturn)) void main(void)
+{
+ 8ae:	df 93       	push	r29
+ 8b0:	cf 93       	push	r28
+ 8b2:	cd b7       	in	r28, 0x3d	; 61
+ 8b4:	de b7       	in	r29, 0x3e	; 62
+ 8b6:	60 97       	sbiw	r28, 0x10	; 16
+ 8b8:	0f b6       	in	r0, 0x3f	; 63
+ 8ba:	f8 94       	cli
+ 8bc:	de bf       	out	0x3e, r29	; 62
+ 8be:	0f be       	out	0x3f, r0	; 63
+ 8c0:	cd bf       	out	0x3d, r28	; 61
+unsigned char  tx_signal_detected = 0;
+unsigned char  servo_signals_lost = 0;
+unsigned char  led_frequency = 0;
+unsigned char  led_counter = 0;
+
+wdt_disable();
+ 8c2:	88 e1       	ldi	r24, 0x18	; 24
+ 8c4:	0f b6       	in	r0, 0x3f	; 63
+ 8c6:	f8 94       	cli
+ 8c8:	80 93 60 00 	sts	0x0060, r24
+ 8cc:	10 92 60 00 	sts	0x0060, r1
+ 8d0:	0f be       	out	0x3f, r0	; 63
+wdt_enable(WDTO_120MS);
+ 8d2:	2b e0       	ldi	r18, 0x0B	; 11
+ 8d4:	88 e1       	ldi	r24, 0x18	; 24
+ 8d6:	90 e0       	ldi	r25, 0x00	; 0
+ 8d8:	0f b6       	in	r0, 0x3f	; 63
+ 8da:	f8 94       	cli
+ 8dc:	a8 95       	wdr
+ 8de:	80 93 60 00 	sts	0x0060, r24
+ 8e2:	0f be       	out	0x3f, r0	; 63
+ 8e4:	20 93 60 00 	sts	0x0060, r18
+wdt_reset();
+ 8e8:	a8 95       	wdr
+
+initialize_mcu(); 
+ 8ea:	0e 94 68 00 	call	0xd0	; 0xd0 <initialize_mcu>
+/*Load the values stored in the eeprom like the throttle channel threshold etc. */
+load_values_from_eeprom();  
+ 8ee:	0e 94 97 03 	call	0x72e	; 0x72e <load_values_from_eeprom>
+/*77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777*/
+/*88888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888*/
+
+void load_failsafe_values(void)
+{
+wdt_reset();
+ 8f2:	a8 95       	wdr
+isr_channel_pw[0] = RC_FS_CH_1_TIMER_VAL;
+ 8f4:	2c ed       	ldi	r18, 0xDC	; 220
+ 8f6:	35 e0       	ldi	r19, 0x05	; 5
+ 8f8:	30 93 1f 01 	sts	0x011F, r19
+ 8fc:	20 93 1e 01 	sts	0x011E, r18
+#if   RC_PPM_GEN_CHANNELS >= 2
+isr_channel_pw[1] = RC_FS_CH_2_TIMER_VAL;
+ 900:	30 93 21 01 	sts	0x0121, r19
+ 904:	20 93 20 01 	sts	0x0120, r18
+#endif
+#if RC_PPM_GEN_CHANNELS >= 3
+isr_channel_pw[2] = RC_FS_CH_3_TIMER_VAL;
+ 908:	88 ee       	ldi	r24, 0xE8	; 232
+ 90a:	93 e0       	ldi	r25, 0x03	; 3
+ 90c:	90 93 23 01 	sts	0x0123, r25
+ 910:	80 93 22 01 	sts	0x0122, r24
+#endif
+#if RC_PPM_GEN_CHANNELS >= 4
+isr_channel_pw[3] = RC_FS_CH_4_TIMER_VAL;
+ 914:	30 93 25 01 	sts	0x0125, r19
+ 918:	20 93 24 01 	sts	0x0124, r18
+#endif
+#if RC_PPM_GEN_CHANNELS >= 5
+isr_channel_pw[4] = RC_FS_CH_5_TIMER_VAL;
+ 91c:	90 93 27 01 	sts	0x0127, r25
+ 920:	80 93 26 01 	sts	0x0126, r24
+#endif
+#if RC_PPM_GEN_CHANNELS >= 6
+isr_channel_pw[5] = RC_FS_CH_6_TIMER_VAL;
+ 924:	90 93 29 01 	sts	0x0129, r25
+ 928:	80 93 28 01 	sts	0x0128, r24
+#endif
+#if RC_PPM_GEN_CHANNELS >= 7
+isr_channel_pw[6] = RC_FS_CH_7_TIMER_VAL;
+ 92c:	90 93 2b 01 	sts	0x012B, r25
+ 930:	80 93 2a 01 	sts	0x012A, r24
+#endif
+#if RC_PPM_GEN_CHANNELS >= 8
+isr_channel_pw[7] = RC_FS_CH_8_TIMER_VAL;
+ 934:	90 93 2d 01 	sts	0x012D, r25
+ 938:	80 93 2c 01 	sts	0x012C, r24
+#endif
+#if RC_PPM_GEN_CHANNELS >= 9
+isr_channel_pw[8] = RC_FS_CH_8_TIMER_VAL;
+#endif
+isr_channel_pw[RC_PPM_GEN_CHANNELS] = RC_RESET_PW_TIMER_VAL;
+ 93c:	8c ee       	ldi	r24, 0xEC	; 236
+ 93e:	9c e2       	ldi	r25, 0x2C	; 44
+ 940:	90 93 2f 01 	sts	0x012F, r25
+ 944:	80 93 2e 01 	sts	0x012E, r24
+load_failsafe_values(); 
+/*
+The "wait_for_rx(): function waits untill the receiver has been powered up and running
+so we can then detect the connected channels with certainty.
+*/
+wait_for_rx(); 
+ 948:	0e 94 7f 01 	call	0x2fe	; 0x2fe <wait_for_rx>
+channels_in_use = detect_connected_channels();
+ 94c:	0e 94 eb 00 	call	0x1d6	; 0x1d6 <detect_connected_channels>
+ 950:	80 93 18 01 	sts	0x0118, r24
+check_for_setup_mode();
+ 954:	0e 94 94 02 	call	0x528	; 0x528 <check_for_setup_mode>
+led_frequency = RC_LED_FREQUENCY_VAL_1HZ; //load the defined led frequency.
+
+/****************************  SETUP THE PIN INTERRUPT  *************************************************/
+
+// Now we must disable the pin interrupt. 
+RC_PIN_INT_EN_REG &= (~(1<<RC_PIN_INT_EN_BIT));
+ 958:	80 91 68 00 	lds	r24, 0x0068
+ 95c:	8b 7f       	andi	r24, 0xFB	; 251
+ 95e:	80 93 68 00 	sts	0x0068, r24
+//Now we must load the pin interrupt mask register.
+RC_PIN_INT_MASK_REG = channel_mask;
+ 962:	70 90 19 01 	lds	r7, 0x0119
+ 966:	70 92 6d 00 	sts	0x006D, r7
+//Clear any pin interrupt flag set. 
+RC_PIN_INT_FLAG_REG |= (1<<RC_PIN_INT_FLAG_BIT);
+ 96a:	da 9a       	sbi	0x1b, 2	; 27
+// Clear the pin interrupt ISR detection variable
+pin_interrupt_detected = 0;
+ 96c:	10 92 14 01 	sts	0x0114, r1
+// Finally we can enable the pin interrupt again. 
+RC_PIN_INT_EN_REG |= (1<<RC_PIN_INT_EN_BIT); 
+ 970:	80 91 68 00 	lds	r24, 0x0068
+ 974:	84 60       	ori	r24, 0x04	; 4
+ 976:	80 93 68 00 	sts	0x0068, r24
+// Set and start timer1
+RESET_START_TIMER0();
+ 97a:	15 bc       	out	0x25, r1	; 37
+ 97c:	a8 9a       	sbi	0x15, 0	; 21
+ 97e:	16 bc       	out	0x26, r1	; 38
+ 980:	10 92 1d 01 	sts	0x011D, r1
+ 984:	82 e0       	ldi	r24, 0x02	; 2
+ 986:	85 bd       	out	0x25, r24	; 37
+// Take a snapshot of the servo pins in order to establish a starting point.
+pin_reg_buffer1 = (RC_SERVO_PORT_PIN_REG & channel_mask);
+ 988:	29 b1       	in	r18, 0x09	; 9
+ 98a:	27 21       	and	r18, r7
+RESET_START_TIMER0();
+ 98c:	15 bc       	out	0x25, r1	; 37
+ 98e:	a8 9a       	sbi	0x15, 0	; 21
+ 990:	16 bc       	out	0x26, r1	; 38
+ 992:	10 92 1d 01 	sts	0x011D, r1
+ 996:	85 bd       	out	0x25, r24	; 37
+                                     channel_mask_buffer &= (~y);
+                                     timer0_buffer = isr_timer0_16 - pw_of_channel[x];
+                                     if( (timer0_buffer > RC_SERVO_MIN_PW_VAL) && (timer0_buffer < RC_SERVO_MAX_PW_VAL) )
+                                      { 
+#if defined(RC_LOST_CHANNEL) && RC_LOST_CHANNEL > 0
+                                         if(x == rc_lost_channel)
+ 998:	20 90 12 01 	lds	r2, 0x0112
+                                          {
+                                             if(ppm_off_threshold > RC_SERVO_CENTER_PW_VAL)
+ 99c:	e0 90 10 01 	lds	r14, 0x0110
+ 9a0:	f0 90 11 01 	lds	r15, 0x0111
+ 9a4:	66 24       	eor	r6, r6
+ 9a6:	cc 24       	eor	r12, r12
+ 9a8:	bb 24       	eor	r11, r11
+ 9aa:	dd 24       	eor	r13, r13
+ 9ac:	d3 94       	inc	r13
+ 9ae:	40 e1       	ldi	r20, 0x10	; 16
+ 9b0:	a4 2e       	mov	r10, r20
+ 9b2:	00 e0       	ldi	r16, 0x00	; 0
+/*88888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888*/
+
+void load_failsafe_values(void)
+{
+wdt_reset();
+isr_channel_pw[0] = RC_FS_CH_1_TIMER_VAL;
+ 9b4:	3c ed       	ldi	r19, 0xDC	; 220
+ 9b6:	43 2e       	mov	r4, r19
+ 9b8:	35 e0       	ldi	r19, 0x05	; 5
+ 9ba:	53 2e       	mov	r5, r19
+#if   RC_PPM_GEN_CHANNELS >= 2
+isr_channel_pw[1] = RC_FS_CH_2_TIMER_VAL;
+#endif
+#if RC_PPM_GEN_CHANNELS >= 3
+isr_channel_pw[2] = RC_FS_CH_3_TIMER_VAL;
+ 9bc:	98 ee       	ldi	r25, 0xE8	; 232
+ 9be:	89 2e       	mov	r8, r25
+ 9c0:	93 e0       	ldi	r25, 0x03	; 3
+ 9c2:	99 2e       	mov	r9, r25
+pin_reg_buffer1 = (RC_SERVO_PORT_PIN_REG & channel_mask);
+RESET_START_TIMER0();
+//Main endless loop.
+while(1)
+    {
+       wdt_reset();
+ 9c4:	a8 95       	wdr
+       channel_mask_buffer = channel_mask;
+       RESET_TIMER0(); 
+ 9c6:	a8 9a       	sbi	0x15, 0	; 21
+ 9c8:	16 bc       	out	0x26, r1	; 38
+ 9ca:	10 92 1d 01 	sts	0x011D, r1
+ 9ce:	17 2d       	mov	r17, r7
+ 9d0:	5b c0       	rjmp	.+182    	; 0xa88 <__stack+0x189>
+       while(channel_mask_buffer)
+           { 
+              /* Wait until a pin change state. */
+              do{  
+                   if( timer0.timer0[1] >=  RC_MAX_TIMEOUT_VAL )
+ 9d2:	80 91 1d 01 	lds	r24, 0x011D
+ 9d6:	86 37       	cpi	r24, 0x76	; 118
+ 9d8:	08 f0       	brcs	.+2      	; 0x9dc <__stack+0xdd>
+ 9da:	5c c0       	rjmp	.+184    	; 0xa94 <__stack+0x195>
+                    { 
+                      goto PPM_CONTROL;
+                    }
+                 
+                }while( pin_interrupt_detected == 0 );
+ 9dc:	80 91 14 01 	lds	r24, 0x0114
+ 9e0:	88 23       	and	r24, r24
+ 9e2:	b9 f3       	breq	.-18     	; 0x9d2 <__stack+0xd3>
+              x=0;
+              y=1;
+              //Only pins that changed their state will be tested for a high or low level
+              pin_reg_buffer0 = (RC_SERVO_PORT_PIN_REG & channel_mask_buffer);
+ 9e4:	79 b1       	in	r23, 0x09	; 9
+ 9e6:	71 23       	and	r23, r17
+              pin_interrupt_detected = 0;
+ 9e8:	10 92 14 01 	sts	0x0114, r1
+              channels_to_check = pin_reg_buffer1 ^ pin_reg_buffer0;
+ 9ec:	37 2e       	mov	r3, r23
+ 9ee:	32 26       	eor	r3, r18
+ 9f0:	de 01       	movw	r26, r28
+ 9f2:	11 96       	adiw	r26, 0x01	; 1
+ 9f4:	61 e0       	ldi	r22, 0x01	; 1
+ 9f6:	40 e0       	ldi	r20, 0x00	; 0
+ 9f8:	50 e0       	ldi	r21, 0x00	; 0
+              pin_reg_buffer1 = pin_reg_buffer0; 
+              while(x<RC_SERVO_INPUT_CHANNELS)
+                  {
+                     if(channels_to_check & y)
+ 9fa:	86 2f       	mov	r24, r22
+ 9fc:	83 21       	and	r24, r3
+ 9fe:	09 f4       	brne	.+2      	; 0xa02 <__stack+0x103>
+ a00:	3a c0       	rjmp	.+116    	; 0xa76 <__stack+0x177>
+                      {
+                         if( (pin_reg_buffer0 & y) ) /* if the pin is high then... */ 
+ a02:	86 2f       	mov	r24, r22
+ a04:	87 23       	and	r24, r23
+ a06:	49 f0       	breq	.+18     	; 0xa1a <__stack+0x11b>
+                          {
+                             pw_of_channel[x] = isr_timer0_16;
+ a08:	80 91 16 01 	lds	r24, 0x0116
+ a0c:	90 91 17 01 	lds	r25, 0x0117
+ a10:	11 96       	adiw	r26, 0x01	; 1
+ a12:	9c 93       	st	X, r25
+ a14:	8e 93       	st	-X, r24
+                             channel_status |= y; /* signal that this channel got it's timer stamp. */
+ a16:	66 2a       	or	r6, r22
+ a18:	2e c0       	rjmp	.+92     	; 0xa76 <__stack+0x177>
+                                        
+                          }else{
+                                 if( channel_status & y )
+ a1a:	86 2d       	mov	r24, r6
+ a1c:	86 23       	and	r24, r22
+ a1e:	59 f1       	breq	.+86     	; 0xa76 <__stack+0x177>
+                                  {
+                                     channel_mask_buffer &= (~y);
+ a20:	86 2f       	mov	r24, r22
+ a22:	80 95       	com	r24
+ a24:	18 23       	and	r17, r24
+                                     timer0_buffer = isr_timer0_16 - pw_of_channel[x];
+ a26:	20 91 16 01 	lds	r18, 0x0116
+ a2a:	30 91 17 01 	lds	r19, 0x0117
+ a2e:	8d 91       	ld	r24, X+
+ a30:	9c 91       	ld	r25, X
+ a32:	11 97       	sbiw	r26, 0x01	; 1
+ a34:	28 1b       	sub	r18, r24
+ a36:	39 0b       	sbc	r19, r25
+                                     if( (timer0_buffer > RC_SERVO_MIN_PW_VAL) && (timer0_buffer < RC_SERVO_MAX_PW_VAL) )
+ a38:	c9 01       	movw	r24, r18
+ a3a:	81 52       	subi	r24, 0x21	; 33
+ a3c:	93 40       	sbci	r25, 0x03	; 3
+ a3e:	87 57       	subi	r24, 0x77	; 119
+ a40:	95 40       	sbci	r25, 0x05	; 5
+ a42:	c8 f4       	brcc	.+50     	; 0xa76 <__stack+0x177>
+                                      { 
+#if defined(RC_LOST_CHANNEL) && RC_LOST_CHANNEL > 0
+                                         if(x == rc_lost_channel)
+ a44:	24 16       	cp	r2, r20
+ a46:	61 f4       	brne	.+24     	; 0xa60 <__stack+0x161>
+                                          {
+                                             if(ppm_off_threshold > RC_SERVO_CENTER_PW_VAL)
+ a48:	8d ed       	ldi	r24, 0xDD	; 221
+ a4a:	e8 16       	cp	r14, r24
+ a4c:	85 e0       	ldi	r24, 0x05	; 5
+ a4e:	f8 06       	cpc	r15, r24
+ a50:	20 f0       	brcs	.+8      	; 0xa5a <__stack+0x15b>
+                                              { 
+                                                 if(timer0_buffer >= ppm_off_threshold)
+ a52:	2e 15       	cp	r18, r14
+ a54:	3f 05       	cpc	r19, r15
+ a56:	20 f0       	brcs	.+8      	; 0xa60 <__stack+0x161>
+ a58:	1b c0       	rjmp	.+54     	; 0xa90 <__stack+0x191>
+                                                     channel_mask_buffer = 0xFF; 
+                                                     goto PPM_CONTROL; 
+                                                  }
+
+                                              }else{
+                                                      if(timer0_buffer <= ppm_off_threshold)
+ a5a:	e2 16       	cp	r14, r18
+ a5c:	f3 06       	cpc	r15, r19
+ a5e:	c0 f4       	brcc	.+48     	; 0xa90 <__stack+0x191>
+                                                          goto PPM_CONTROL;
+                                                       }
+                                                   }
+                                          }
+#endif
+                                         if(servo_signals_lost == 0)
+ a60:	dd 20       	and	r13, r13
+ a62:	49 f4       	brne	.+18     	; 0xa76 <__stack+0x177>
+                                          {
+                                             asm("cli"); //Atomic operation needed here.
+ a64:	f8 94       	cli
+                                             isr_channel_pw[x] = timer0_buffer; 
+ a66:	fa 01       	movw	r30, r20
+ a68:	ee 0f       	add	r30, r30
+ a6a:	ff 1f       	adc	r31, r31
+ a6c:	e2 5e       	subi	r30, 0xE2	; 226
+ a6e:	fe 4f       	sbci	r31, 0xFE	; 254
+ a70:	31 83       	std	Z+1, r19	; 0x01
+ a72:	20 83       	st	Z, r18
+                                             asm("sei");
+ a74:	78 94       	sei
+ a76:	4f 5f       	subi	r20, 0xFF	; 255
+ a78:	5f 4f       	sbci	r21, 0xFF	; 255
+ a7a:	12 96       	adiw	r26, 0x02	; 2
+ a7c:	27 2f       	mov	r18, r23
+              //Only pins that changed their state will be tested for a high or low level
+              pin_reg_buffer0 = (RC_SERVO_PORT_PIN_REG & channel_mask_buffer);
+              pin_interrupt_detected = 0;
+              channels_to_check = pin_reg_buffer1 ^ pin_reg_buffer0;
+              pin_reg_buffer1 = pin_reg_buffer0; 
+              while(x<RC_SERVO_INPUT_CHANNELS)
+ a7e:	48 30       	cpi	r20, 0x08	; 8
+ a80:	51 05       	cpc	r21, r1
+ a82:	11 f0       	breq	.+4      	; 0xa88 <__stack+0x189>
+                                  }  // End of "if( channel_status & y )" statement.            
+ 
+                               }   // End of "if( (pin_reg_buffer0 & y) )...else..." statement         
+                      }	// End of "if(channels_to_check & y)" statement.
+                   x++;
+                   y=(y<<1);
+ a84:	66 0f       	add	r22, r22
+ a86:	b9 cf       	rjmp	.-142    	; 0x9fa <__stack+0xfb>
+while(1)
+    {
+       wdt_reset();
+       channel_mask_buffer = channel_mask;
+       RESET_TIMER0(); 
+       while(channel_mask_buffer)
+ a88:	11 23       	and	r17, r17
+ a8a:	09 f0       	breq	.+2      	; 0xa8e <__stack+0x18f>
+ a8c:	a2 cf       	rjmp	.-188    	; 0x9d2 <__stack+0xd3>
+ a8e:	02 c0       	rjmp	.+4      	; 0xa94 <__stack+0x195>
+                   x++;
+                   y=(y<<1);
+              }
+ 
+           }	// End of "while(channel_mask_buffer)" loop.
+PPM_CONTROL:
+ a90:	27 2f       	mov	r18, r23
+ a92:	1f ef       	ldi	r17, 0xFF	; 255
+ 
+       led_counter++;
+ a94:	0f 5f       	subi	r16, 0xFF	; 255
+       if( led_counter >= led_frequency ){ led_counter = 0; TOGGLE_LED();  }
+ a96:	0a 15       	cp	r16, r10
+ a98:	28 f0       	brcs	.+10     	; 0xaa4 <__stack+0x1a5>
+ a9a:	85 b1       	in	r24, 0x05	; 5
+ a9c:	91 e0       	ldi	r25, 0x01	; 1
+ a9e:	89 27       	eor	r24, r25
+ aa0:	85 b9       	out	0x05, r24	; 5
+ aa2:	00 e0       	ldi	r16, 0x00	; 0
+
+//We need 'RC_MAX_BAD_PPM_FRAMES" consecutive readings in order to change the PPM generator's status.
+       if( channel_mask_buffer == 0  ) //IF ALL CHANNELS HAVE BEEN MEASURED...
+ aa4:	11 23       	and	r17, r17
+ aa6:	79 f5       	brne	.+94     	; 0xb06 <__stack+0x207>
+        {
+           tx_signal_lost = 0;         
+           if(servo_signals_lost == 1) //IF PREVIOUSLY THE SERVO SIGNAL WAS LOST...
+ aa8:	e1 e0       	ldi	r30, 0x01	; 1
+ aaa:	de 16       	cp	r13, r30
+ aac:	09 f0       	breq	.+2      	; 0xab0 <__stack+0x1b1>
+ aae:	61 c0       	rjmp	.+194    	; 0xb72 <__stack+0x273>
+            {
+              tx_signal_detected++;
+ ab0:	b3 94       	inc	r11
+              if(tx_signal_detected > RC_MAX_BAD_PPM_FRAMES)
+ ab2:	34 e0       	ldi	r19, 0x04	; 4
+ ab4:	3b 15       	cp	r19, r11
+ ab6:	08 f0       	brcs	.+2      	; 0xaba <__stack+0x1bb>
+ ab8:	5c c0       	rjmp	.+184    	; 0xb72 <__stack+0x273>
+
+
+static inline void ppm_on(void)
+{
+
+   RC_TIMER1_PRESCALER_REG  &= (~(TIMER1_PRESCALER_BITS));	
+ aba:	80 91 81 00 	lds	r24, 0x0081
+ abe:	8d 7f       	andi	r24, 0xFD	; 253
+ ac0:	80 93 81 00 	sts	0x0081, r24
+   TCNT1 = 0; 
+ ac4:	10 92 85 00 	sts	0x0085, r1
+ ac8:	10 92 84 00 	sts	0x0084, r1
+   isr_channel_number = RC_PPM_GEN_CHANNELS;		
+ acc:	88 e0       	ldi	r24, 0x08	; 8
+ ace:	80 93 15 01 	sts	0x0115, r24
+   RC_TIMER1_COMP1_REG = RC_RESET_PW_TIMER_VAL;
+ ad2:	8c ee       	ldi	r24, 0xEC	; 236
+ ad4:	9c e2       	ldi	r25, 0x2C	; 44
+ ad6:	90 93 89 00 	sts	0x0089, r25
+ ada:	80 93 88 00 	sts	0x0088, r24
+   RC_TIMER1_COMP2_REG = RC_PPM_SYNC_PW_VAL;	
+ ade:	8c e2       	ldi	r24, 0x2C	; 44
+ ae0:	91 e0       	ldi	r25, 0x01	; 1
+ ae2:	90 93 8b 00 	sts	0x008B, r25
+ ae6:	80 93 8a 00 	sts	0x008A, r24
+   RC_TIMER1_TIFR |= ( (1<<OCIE1B)|(1<<TOIE1) );			
+ aea:	86 b3       	in	r24, 0x16	; 22
+ aec:	85 60       	ori	r24, 0x05	; 5
+ aee:	86 bb       	out	0x16, r24	; 22
+   RC_TIMER1_PRESCALER_REG |= TIMER1_PRESCALER_BITS;
+ af0:	80 91 81 00 	lds	r24, 0x0081
+ af4:	82 60       	ori	r24, 0x02	; 2
+ af6:	80 93 81 00 	sts	0x0081, r24
+              tx_signal_detected++;
+              if(tx_signal_detected > RC_MAX_BAD_PPM_FRAMES)
+               {
+                 ppm_on();
+                 servo_signals_lost = 0;
+                 LED_ON();
+ afa:	28 9a       	sbi	0x05, 0	; 5
+ afc:	cc 24       	eor	r12, r12
+ afe:	dd 24       	eor	r13, r13
+ b00:	44 e0       	ldi	r20, 0x04	; 4
+ b02:	a4 2e       	mov	r10, r20
+ b04:	34 c0       	rjmp	.+104    	; 0xb6e <__stack+0x26f>
+                 led_frequency = RC_LED_FREQUENCY_VAL;
+               }
+            }
+        }
+       else{  //IF NOT ALL CHANNELS HAVE BEEN MEASURED...
+              pin_reg_buffer1 = (RC_SERVO_PORT_PIN_REG & channel_mask);
+ b06:	29 b1       	in	r18, 0x09	; 9
+ b08:	27 21       	and	r18, r7
+              tx_signal_detected = 0;
+              if(servo_signals_lost == 0)
+ b0a:	dd 20       	and	r13, r13
+ b0c:	a1 f5       	brne	.+104    	; 0xb76 <__stack+0x277>
+               {
+		   tx_signal_lost++;
+ b0e:	c3 94       	inc	r12
+                   if(tx_signal_lost > RC_MAX_BAD_PPM_FRAMES)
+ b10:	94 e0       	ldi	r25, 0x04	; 4
+ b12:	9c 15       	cp	r25, r12
+ b14:	80 f5       	brcc	.+96     	; 0xb76 <__stack+0x277>
+/*77777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777777*/
+/*88888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888*/
+
+void load_failsafe_values(void)
+{
+wdt_reset();
+ b16:	a8 95       	wdr
+isr_channel_pw[0] = RC_FS_CH_1_TIMER_VAL;
+ b18:	50 92 1f 01 	sts	0x011F, r5
+ b1c:	40 92 1e 01 	sts	0x011E, r4
+#if   RC_PPM_GEN_CHANNELS >= 2
+isr_channel_pw[1] = RC_FS_CH_2_TIMER_VAL;
+ b20:	50 92 21 01 	sts	0x0121, r5
+ b24:	40 92 20 01 	sts	0x0120, r4
+#endif
+#if RC_PPM_GEN_CHANNELS >= 3
+isr_channel_pw[2] = RC_FS_CH_3_TIMER_VAL;
+ b28:	90 92 23 01 	sts	0x0123, r9
+ b2c:	80 92 22 01 	sts	0x0122, r8
+#endif
+#if RC_PPM_GEN_CHANNELS >= 4
+isr_channel_pw[3] = RC_FS_CH_4_TIMER_VAL;
+ b30:	50 92 25 01 	sts	0x0125, r5
+ b34:	40 92 24 01 	sts	0x0124, r4
+#endif
+#if RC_PPM_GEN_CHANNELS >= 5
+isr_channel_pw[4] = RC_FS_CH_5_TIMER_VAL;
+ b38:	90 92 27 01 	sts	0x0127, r9
+ b3c:	80 92 26 01 	sts	0x0126, r8
+#endif
+#if RC_PPM_GEN_CHANNELS >= 6
+isr_channel_pw[5] = RC_FS_CH_6_TIMER_VAL;
+ b40:	90 92 29 01 	sts	0x0129, r9
+ b44:	80 92 28 01 	sts	0x0128, r8
+#endif
+#if RC_PPM_GEN_CHANNELS >= 7
+isr_channel_pw[6] = RC_FS_CH_7_TIMER_VAL;
+ b48:	90 92 2b 01 	sts	0x012B, r9
+ b4c:	80 92 2a 01 	sts	0x012A, r8
+#endif
+#if RC_PPM_GEN_CHANNELS >= 8
+isr_channel_pw[7] = RC_FS_CH_8_TIMER_VAL;
+ b50:	90 92 2d 01 	sts	0x012D, r9
+ b54:	80 92 2c 01 	sts	0x012C, r8
+#endif
+#if RC_PPM_GEN_CHANNELS >= 9
+isr_channel_pw[8] = RC_FS_CH_8_TIMER_VAL;
+#endif
+isr_channel_pw[RC_PPM_GEN_CHANNELS] = RC_RESET_PW_TIMER_VAL;
+ b58:	8c ee       	ldi	r24, 0xEC	; 236
+ b5a:	9c e2       	ldi	r25, 0x2C	; 44
+ b5c:	90 93 2f 01 	sts	0x012F, r25
+ b60:	80 93 2e 01 	sts	0x012E, r24
+ b64:	bb 24       	eor	r11, r11
+ b66:	dd 24       	eor	r13, r13
+ b68:	d3 94       	inc	r13
+ b6a:	30 e1       	ldi	r19, 0x10	; 16
+ b6c:	a3 2e       	mov	r10, r19
+ b6e:	00 e0       	ldi	r16, 0x00	; 0
+ b70:	03 c0       	rjmp	.+6      	; 0xb78 <__stack+0x279>
+ b72:	cc 24       	eor	r12, r12
+ b74:	01 c0       	rjmp	.+2      	; 0xb78 <__stack+0x279>
+ b76:	bb 24       	eor	r11, r11
+/*12121212121212121212121212121212121212121212121212121212121212121212121212121212121212121212121212*/
+
+
+void mux_control(void)
+{
+long PULSE_WIDTH = isr_channel_pw[RC_MUX_CHANNEL-1];
+ b78:	80 91 2c 01 	lds	r24, 0x012C
+ b7c:	90 91 2d 01 	lds	r25, 0x012D
+
+#if RC_MUX_REVERSE == 0
+
+	if((PULSE_WIDTH>RC_MUX_MIN)&&(PULSE_WIDTH<RC_MUX_MAX))
+ b80:	a0 e0       	ldi	r26, 0x00	; 0
+ b82:	b0 e0       	ldi	r27, 0x00	; 0
+ b84:	01 97       	sbiw	r24, 0x01	; 1
+ b86:	a1 09       	sbc	r26, r1
+ b88:	b1 09       	sbc	r27, r1
+ b8a:	81 5e       	subi	r24, 0xE1	; 225
+ b8c:	94 40       	sbci	r25, 0x04	; 4
+ b8e:	a0 40       	sbci	r26, 0x00	; 0
+ b90:	b0 40       	sbci	r27, 0x00	; 0
+ b92:	10 f4       	brcc	.+4      	; 0xb98 <__stack+0x299>
+	{
+		MUX_ON();
+ b94:	29 9a       	sbi	0x05, 1	; 5
+ b96:	16 cf       	rjmp	.-468    	; 0x9c4 <__stack+0xc5>
+	}
+	else
+	{
+		MUX_OFF();
+ b98:	29 98       	cbi	0x05, 1	; 5
+ b9a:	14 cf       	rjmp	.-472    	; 0x9c4 <__stack+0xc5>
+
+00000b9c <__eerd_word>:
+ b9c:	df 92       	push	r13
+ b9e:	ef 92       	push	r14
+ ba0:	ff 92       	push	r15
+ ba2:	0f 93       	push	r16
+ ba4:	1f 93       	push	r17
+ ba6:	7b 01       	movw	r14, r22
+ ba8:	8c 01       	movw	r16, r24
+ baa:	fb 01       	movw	r30, r22
+ bac:	09 95       	icall
+ bae:	d8 2e       	mov	r13, r24
+ bb0:	c8 01       	movw	r24, r16
+ bb2:	01 96       	adiw	r24, 0x01	; 1
+ bb4:	f7 01       	movw	r30, r14
+ bb6:	09 95       	icall
+ bb8:	98 2f       	mov	r25, r24
+ bba:	8d 2d       	mov	r24, r13
+ bbc:	1f 91       	pop	r17
+ bbe:	0f 91       	pop	r16
+ bc0:	ff 90       	pop	r15
+ bc2:	ef 90       	pop	r14
+ bc4:	df 90       	pop	r13
+ bc6:	08 95       	ret
+
+00000bc8 <__eewr_word>:
+ bc8:	df 92       	push	r13
+ bca:	ef 92       	push	r14
+ bcc:	ff 92       	push	r15
+ bce:	0f 93       	push	r16
+ bd0:	1f 93       	push	r17
+ bd2:	d7 2e       	mov	r13, r23
+ bd4:	7a 01       	movw	r14, r20
+ bd6:	8c 01       	movw	r16, r24
+ bd8:	fa 01       	movw	r30, r20
+ bda:	09 95       	icall
+ bdc:	c8 01       	movw	r24, r16
+ bde:	01 96       	adiw	r24, 0x01	; 1
+ be0:	6d 2d       	mov	r22, r13
+ be2:	f7 01       	movw	r30, r14
+ be4:	09 95       	icall
+ be6:	1f 91       	pop	r17
+ be8:	0f 91       	pop	r16
+ bea:	ff 90       	pop	r15
+ bec:	ef 90       	pop	r14
+ bee:	df 90       	pop	r13
+ bf0:	08 95       	ret
+
+00000bf2 <__udivmodhi4>:
+ bf2:	aa 1b       	sub	r26, r26
+ bf4:	bb 1b       	sub	r27, r27
+ bf6:	51 e1       	ldi	r21, 0x11	; 17
+ bf8:	07 c0       	rjmp	.+14     	; 0xc08 <__udivmodhi4_ep>
+
+00000bfa <__udivmodhi4_loop>:
+ bfa:	aa 1f       	adc	r26, r26
+ bfc:	bb 1f       	adc	r27, r27
+ bfe:	a6 17       	cp	r26, r22
+ c00:	b7 07       	cpc	r27, r23
+ c02:	10 f0       	brcs	.+4      	; 0xc08 <__udivmodhi4_ep>
+ c04:	a6 1b       	sub	r26, r22
+ c06:	b7 0b       	sbc	r27, r23
+
+00000c08 <__udivmodhi4_ep>:
+ c08:	88 1f       	adc	r24, r24
+ c0a:	99 1f       	adc	r25, r25
+ c0c:	5a 95       	dec	r21
+ c0e:	a9 f7       	brne	.-22     	; 0xbfa <__udivmodhi4_loop>
+ c10:	80 95       	com	r24
+ c12:	90 95       	com	r25
+ c14:	bc 01       	movw	r22, r24
+ c16:	cd 01       	movw	r24, r26
+ c18:	08 95       	ret
+
+00000c1a <_exit>:
+ c1a:	f8 94       	cli
+
+00000c1c <__stop_program>:
+ c1c:	ff cf       	rjmp	.-2      	; 0xc1c <__stop_program>
diff --git a/archive/PPMEncoder/default/ap_ppm_encoder.map b/archive/PPMEncoder/default/ap_ppm_encoder.map
new file mode 100644
index 0000000000..c7c0a8decb
--- /dev/null
+++ b/archive/PPMEncoder/default/ap_ppm_encoder.map
@@ -0,0 +1,419 @@
+Archive member included because of file (symbol)
+
+c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_udivmodhi4.o)
+                              ap_ppm_encoder.o (__udivmodhi4)
+c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_exit.o)
+                              c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr5/crtm328p.o (exit)
+c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_copy_data.o)
+                              ap_ppm_encoder.o (__do_copy_data)
+c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_clear_bss.o)
+                              ap_ppm_encoder.o (__do_clear_bss)
+c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr5\libc.a(eerd_word.o)
+                              ap_ppm_encoder.o (__eerd_word)
+c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr5\libc.a(eewr_word.o)
+                              ap_ppm_encoder.o (__eewr_word)
+
+Allocating common symbols
+Common symbol       size              file
+
+timer0              0x2               ap_ppm_encoder.o
+isr_channel_pw      0x12              ap_ppm_encoder.o
+
+Memory Configuration
+
+Name             Origin             Length             Attributes
+text             0x00000000         0x00020000         xr
+data             0x00800060         0x0000ffa0         rw !x
+eeprom           0x00810000         0x00010000         rw !x
+fuse             0x00820000         0x00000400         rw !x
+lock             0x00830000         0x00000400         rw !x
+signature        0x00840000         0x00000400         rw !x
+*default*        0x00000000         0xffffffff
+
+Linker script and memory map
+
+Address of section .data set to 0x800100
+LOAD c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr5/crtm328p.o
+LOAD ap_ppm_encoder.o
+LOAD c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a
+LOAD c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr5\libc.a
+LOAD c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a
+
+.hash
+ *(.hash)
+
+.dynsym
+ *(.dynsym)
+
+.dynstr
+ *(.dynstr)
+
+.gnu.version
+ *(.gnu.version)
+
+.gnu.version_d
+ *(.gnu.version_d)
+
+.gnu.version_r
+ *(.gnu.version_r)
+
+.rel.init
+ *(.rel.init)
+
+.rela.init
+ *(.rela.init)
+
+.rel.text
+ *(.rel.text)
+ *(.rel.text.*)
+ *(.rel.gnu.linkonce.t*)
+
+.rela.text
+ *(.rela.text)
+ *(.rela.text.*)
+ *(.rela.gnu.linkonce.t*)
+
+.rel.fini
+ *(.rel.fini)
+
+.rela.fini
+ *(.rela.fini)
+
+.rel.rodata
+ *(.rel.rodata)
+ *(.rel.rodata.*)
+ *(.rel.gnu.linkonce.r*)
+
+.rela.rodata
+ *(.rela.rodata)
+ *(.rela.rodata.*)
+ *(.rela.gnu.linkonce.r*)
+
+.rel.data
+ *(.rel.data)
+ *(.rel.data.*)
+ *(.rel.gnu.linkonce.d*)
+
+.rela.data
+ *(.rela.data)
+ *(.rela.data.*)
+ *(.rela.gnu.linkonce.d*)
+
+.rel.ctors
+ *(.rel.ctors)
+
+.rela.ctors
+ *(.rela.ctors)
+
+.rel.dtors
+ *(.rel.dtors)
+
+.rela.dtors
+ *(.rela.dtors)
+
+.rel.got
+ *(.rel.got)
+
+.rela.got
+ *(.rela.got)
+
+.rel.bss
+ *(.rel.bss)
+
+.rela.bss
+ *(.rela.bss)
+
+.rel.plt
+ *(.rel.plt)
+
+.rela.plt
+ *(.rela.plt)
+
+.text           0x00000000      0xc1e
+ *(.vectors)
+ .vectors       0x00000000       0x68 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr5/crtm328p.o
+                0x00000000                __vectors
+                0x00000000                __vector_default
+ *(.vectors)
+ *(.progmem.gcc*)
+ *(.progmem*)
+                0x00000068                . = ALIGN (0x2)
+                0x00000068                __trampolines_start = .
+ *(.trampolines)
+ .trampolines   0x00000068        0x0 linker stubs
+ *(.trampolines*)
+                0x00000068                __trampolines_end = .
+ *(.jumptables)
+ *(.jumptables*)
+ *(.lowtext)
+ *(.lowtext*)
+                0x00000068                __ctors_start = .
+ *(.ctors)
+                0x00000068                __ctors_end = .
+                0x00000068                __dtors_start = .
+ *(.dtors)
+                0x00000068                __dtors_end = .
+ SORT(*)(.ctors)
+ SORT(*)(.dtors)
+ *(.init0)
+ .init0         0x00000068        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr5/crtm328p.o
+                0x00000068                __init
+ *(.init0)
+ *(.init1)
+ *(.init1)
+ *(.init2)
+ .init2         0x00000068        0xc c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr5/crtm328p.o
+ *(.init2)
+ *(.init3)
+ *(.init3)
+ *(.init4)
+ .init4         0x00000074       0x16 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_copy_data.o)
+                0x00000074                __do_copy_data
+ .init4         0x0000008a       0x10 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_clear_bss.o)
+                0x0000008a                __do_clear_bss
+ *(.init4)
+ *(.init5)
+ *(.init5)
+ *(.init6)
+ *(.init6)
+ *(.init7)
+ *(.init7)
+ *(.init8)
+ *(.init8)
+ *(.init9)
+ .init9         0x0000009a        0x8 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr5/crtm328p.o
+ *(.init9)
+ *(.text)
+ .text          0x000000a2        0x4 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr5/crtm328p.o
+                0x000000a2                __vector_22
+                0x000000a2                __vector_1
+                0x000000a2                __vector_24
+                0x000000a2                __bad_interrupt
+                0x000000a2                __vector_6
+                0x000000a2                __vector_3
+                0x000000a2                __vector_23
+                0x000000a2                __vector_25
+                0x000000a2                __vector_11
+                0x000000a2                __vector_13
+                0x000000a2                __vector_17
+                0x000000a2                __vector_19
+                0x000000a2                __vector_7
+                0x000000a2                __vector_4
+                0x000000a2                __vector_9
+                0x000000a2                __vector_2
+                0x000000a2                __vector_21
+                0x000000a2                __vector_15
+                0x000000a2                __vector_8
+                0x000000a2                __vector_14
+                0x000000a2                __vector_10
+                0x000000a2                __vector_18
+                0x000000a2                __vector_20
+ .text          0x000000a6      0xaf6 ap_ppm_encoder.o
+                0x0000038a                load_failsafe_values
+                0x00000428                __vector_12
+                0x00000528                check_for_setup_mode
+                0x0000047e                __vector_5
+                0x0000026c                get_channel_pw
+                0x000004ca                write_default_values_to_eeprom
+                0x000008ae                main
+                0x000001d6                detect_connected_channels
+                0x000000d0                initialize_mcu
+                0x0000072e                load_values_from_eeprom
+                0x000002fe                wait_for_rx
+                0x000003e2                mux_control
+                0x00000406                __vector_16
+ .text          0x00000b9c        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_udivmodhi4.o)
+ .text          0x00000b9c        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_exit.o)
+ .text          0x00000b9c        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_copy_data.o)
+ .text          0x00000b9c        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_clear_bss.o)
+ .text          0x00000b9c       0x2c c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr5\libc.a(eerd_word.o)
+                0x00000b9c                __eerd_word
+ .text          0x00000bc8       0x2a c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr5\libc.a(eewr_word.o)
+                0x00000bc8                __eewr_word
+                0x00000bf2                . = ALIGN (0x2)
+ *(.text.*)
+ .text.libgcc   0x00000bf2       0x28 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_udivmodhi4.o)
+                0x00000bf2                __udivmodhi4
+ .text.libgcc   0x00000c1a        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_exit.o)
+ .text.libgcc   0x00000c1a        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_copy_data.o)
+ .text.libgcc   0x00000c1a        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_clear_bss.o)
+                0x00000c1a                . = ALIGN (0x2)
+ *(.fini9)
+ .fini9         0x00000c1a        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_exit.o)
+                0x00000c1a                exit
+                0x00000c1a                _exit
+ *(.fini9)
+ *(.fini8)
+ *(.fini8)
+ *(.fini7)
+ *(.fini7)
+ *(.fini6)
+ *(.fini6)
+ *(.fini5)
+ *(.fini5)
+ *(.fini4)
+ *(.fini4)
+ *(.fini3)
+ *(.fini3)
+ *(.fini2)
+ *(.fini2)
+ *(.fini1)
+ *(.fini1)
+ *(.fini0)
+ .fini0         0x00000c1a        0x4 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_exit.o)
+ *(.fini0)
+                0x00000c1e                _etext = .
+
+.data           0x00800100       0x14 load address 0x00000c1e
+                0x00800100                PROVIDE (__data_start, .)
+ *(.data)
+ .data          0x00800100        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr5/crtm328p.o
+ .data          0x00800100       0x13 ap_ppm_encoder.o
+                0x00800112                rc_lost_channel
+                0x00800100                version_info
+                0x00800110                ppm_off_threshold
+ .data          0x00800113        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_udivmodhi4.o)
+ .data          0x00800113        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_exit.o)
+ .data          0x00800113        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_copy_data.o)
+ .data          0x00800113        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_clear_bss.o)
+ .data          0x00800113        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr5\libc.a(eerd_word.o)
+ .data          0x00800113        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr5\libc.a(eewr_word.o)
+ *(.data*)
+ *(.rodata)
+ *(.rodata*)
+ *(.gnu.linkonce.d*)
+                0x00800114                . = ALIGN (0x2)
+ *fill*         0x00800113        0x1 00
+                0x00800114                _edata = .
+                0x00800114                PROVIDE (__data_end, .)
+
+.bss            0x00800114       0x1c
+                0x00800114                PROVIDE (__bss_start, .)
+ *(.bss)
+ .bss           0x00800114        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr5/crtm328p.o
+ .bss           0x00800114        0x8 ap_ppm_encoder.o
+                0x00800119                channel_mask
+                0x0080011a                isr_timer0
+                0x00800115                isr_channel_number
+                0x00800118                channels_in_use
+                0x00800114                pin_interrupt_detected
+                0x00800116                isr_timer0_16
+ .bss           0x0080011c        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_udivmodhi4.o)
+ .bss           0x0080011c        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_exit.o)
+ .bss           0x0080011c        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_copy_data.o)
+ .bss           0x0080011c        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/avr5\libgcc.a(_clear_bss.o)
+ .bss           0x0080011c        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr5\libc.a(eerd_word.o)
+ .bss           0x0080011c        0x0 c:/winavr-20090313/bin/../lib/gcc/avr/4.3.2/../../../../avr/lib/avr5\libc.a(eewr_word.o)
+ *(.bss*)
+ *(COMMON)
+ COMMON         0x0080011c       0x14 ap_ppm_encoder.o
+                0x0080011c                timer0
+                0x0080011e                isr_channel_pw
+                0x00800130                PROVIDE (__bss_end, .)
+                0x00000c1e                __data_load_start = LOADADDR (.data)
+                0x00000c32                __data_load_end = (__data_load_start + SIZEOF (.data))
+
+.noinit         0x00800130        0x0
+                0x00800130                PROVIDE (__noinit_start, .)
+ *(.noinit*)
+                0x00800130                PROVIDE (__noinit_end, .)
+                0x00800130                _end = .
+                0x00800130                PROVIDE (__heap_start, .)
+
+.eeprom         0x00810000       0x35
+ *(.eeprom*)
+ .eeprom        0x00810000       0x35 ap_ppm_encoder.o
+                0x00810014                ppm_off_threshold_e
+                0x00810000                dummy_int
+                0x0081002a                rc_lost_channel_e
+                0x00810035                __eeprom_end = .
+
+.fuse
+ *(.fuse)
+ *(.lfuse)
+ *(.hfuse)
+ *(.efuse)
+
+.lock
+ *(.lock*)
+
+.signature
+ *(.signature*)
+
+.stab
+ *(.stab)
+
+.stabstr
+ *(.stabstr)
+
+.stab.excl
+ *(.stab.excl)
+
+.stab.exclstr
+ *(.stab.exclstr)
+
+.stab.index
+ *(.stab.index)
+
+.stab.indexstr
+ *(.stab.indexstr)
+
+.comment
+ *(.comment)
+
+.debug
+ *(.debug)
+
+.line
+ *(.line)
+
+.debug_srcinfo
+ *(.debug_srcinfo)
+
+.debug_sfnames
+ *(.debug_sfnames)
+
+.debug_aranges  0x00000000       0x20
+ *(.debug_aranges)
+ .debug_aranges
+                0x00000000       0x20 ap_ppm_encoder.o
+
+.debug_pubnames
+                0x00000000      0x22c
+ *(.debug_pubnames)
+ .debug_pubnames
+                0x00000000      0x22c ap_ppm_encoder.o
+
+.debug_info     0x00000000      0x914
+ *(.debug_info)
+ .debug_info    0x00000000      0x914 ap_ppm_encoder.o
+ *(.gnu.linkonce.wi.*)
+
+.debug_abbrev   0x00000000      0x262
+ *(.debug_abbrev)
+ .debug_abbrev  0x00000000      0x262 ap_ppm_encoder.o
+
+.debug_line     0x00000000      0xc94
+ *(.debug_line)
+ .debug_line    0x00000000      0xc94 ap_ppm_encoder.o
+
+.debug_frame    0x00000000      0x100
+ *(.debug_frame)
+ .debug_frame   0x00000000      0x100 ap_ppm_encoder.o
+
+.debug_str      0x00000000      0x43c
+ *(.debug_str)
+ .debug_str     0x00000000      0x43c ap_ppm_encoder.o
+                                0x4ac (size before relaxing)
+
+.debug_loc      0x00000000      0x3b4
+ *(.debug_loc)
+ .debug_loc     0x00000000      0x3b4 ap_ppm_encoder.o
+
+.debug_macinfo
+ *(.debug_macinfo)
+OUTPUT(ap_ppm_encoder.elf elf32-avr)
+LOAD linker stubs
+
+.debug_ranges   0x00000000       0x18
+ .debug_ranges  0x00000000       0x18 ap_ppm_encoder.o
diff --git a/archive/PPMEncoder/default/dep/ap_ppm_encoder.o.d b/archive/PPMEncoder/default/dep/ap_ppm_encoder.o.d
new file mode 100644
index 0000000000..e48e02fc8e
--- /dev/null
+++ b/archive/PPMEncoder/default/dep/ap_ppm_encoder.o.d
@@ -0,0 +1,46 @@
+ap_ppm_encoder.o: ../ap_ppm_encoder.c \
+  c:/winavr-20090313/lib/gcc/../../avr/include/avr/io.h \
+  c:/winavr-20090313/lib/gcc/../../avr/include/avr/sfr_defs.h \
+  c:/winavr-20090313/lib/gcc/../../avr/include/inttypes.h \
+  c:/winavr-20090313/lib/gcc/../../avr/include/stdint.h \
+  c:/winavr-20090313/lib/gcc/../../avr/include/avr/iom328p.h \
+  c:/winavr-20090313/lib/gcc/../../avr/include/avr/portpins.h \
+  c:/winavr-20090313/lib/gcc/../../avr/include/avr/common.h \
+  c:/winavr-20090313/lib/gcc/../../avr/include/avr/version.h \
+  c:/winavr-20090313/lib/gcc/../../avr/include/avr/fuse.h \
+  c:/winavr-20090313/lib/gcc/../../avr/include/avr/lock.h \
+  c:/winavr-20090313/lib/gcc/../../avr/include/avr/interrupt.h \
+  c:/winavr-20090313/lib/gcc/../../avr/include/avr/wdt.h \
+  c:/winavr-20090313/lib/gcc/../../avr/include/avr/eeprom.h \
+  c:\winavr-20090313\bin\../lib/gcc/avr/4.3.2/include/stddef.h \
+  ../servo2ppm_settings.h
+
+c:/winavr-20090313/lib/gcc/../../avr/include/avr/io.h:
+
+c:/winavr-20090313/lib/gcc/../../avr/include/avr/sfr_defs.h:
+
+c:/winavr-20090313/lib/gcc/../../avr/include/inttypes.h:
+
+c:/winavr-20090313/lib/gcc/../../avr/include/stdint.h:
+
+c:/winavr-20090313/lib/gcc/../../avr/include/avr/iom328p.h:
+
+c:/winavr-20090313/lib/gcc/../../avr/include/avr/portpins.h:
+
+c:/winavr-20090313/lib/gcc/../../avr/include/avr/common.h:
+
+c:/winavr-20090313/lib/gcc/../../avr/include/avr/version.h:
+
+c:/winavr-20090313/lib/gcc/../../avr/include/avr/fuse.h:
+
+c:/winavr-20090313/lib/gcc/../../avr/include/avr/lock.h:
+
+c:/winavr-20090313/lib/gcc/../../avr/include/avr/interrupt.h:
+
+c:/winavr-20090313/lib/gcc/../../avr/include/avr/wdt.h:
+
+c:/winavr-20090313/lib/gcc/../../avr/include/avr/eeprom.h:
+
+c:\winavr-20090313\bin\../lib/gcc/avr/4.3.2/include/stddef.h:
+
+../servo2ppm_settings.h:
diff --git a/archive/PPMEncoder/default/ppm_enconder_at328.bat b/archive/PPMEncoder/default/ppm_enconder_at328.bat
new file mode 100644
index 0000000000..3100826ada
--- /dev/null
+++ b/archive/PPMEncoder/default/ppm_enconder_at328.bat
@@ -0,0 +1,17 @@
+@echo *********************************
+@echo Visit DIYdrones.com!
+@echo This Bat is for PPM_encoder!
+@echo *********************************
+@echo Press enter to do some Magic!
+pause
+:A
+@echo Programming Arduino...
+
+"C:\Program Files\Atmel\AVR Tools\STK500\Stk500.exe" -cUSB -dATmega328P -fD9E2 -EFD -FD9E2 -GFD -e -ifap_ppm_encoder.hex -pf -lCF -LCF
+
+@echo ****************************************************************
+@echo Jordi: CHECK FOR PROBLEMS ABOVE before closing this window!
+@echo Press enter to do the Magic again!
+@echo ****************************************************************
+pause
+Goto A
diff --git a/archive/PPMEncoder/servo2ppm_settings.h b/archive/PPMEncoder/servo2ppm_settings.h
new file mode 100644
index 0000000000..9431b7cde4
--- /dev/null
+++ b/archive/PPMEncoder/servo2ppm_settings.h
@@ -0,0 +1,128 @@
+
+/*********************************************************************************************************
+ Title  :   header file for the rc ppm encoder (servo2ppm_settings.h)
+ Author:    Chris Efstathiou 
+ E-mail:    hendrix at vivodinet dot gr
+ Homepage:  ........................
+ Date:      03/Aug/2009
+ Compiler:  AVR-GCC with AVR-AS
+ MCU type:  ATmega168 
+ Comments:  This software is FREE. Use it at your own risk.
+*********************************************************************************************************/
+
+#ifndef SERVO2PPM_SETTINGS_H
+#define SERVO2PPM_SETTINGS_H
+
+/********************************************************************************************************/
+/*                                  USER CONFIGURATION BLOCK START                                      */ 
+/********************************************************************************************************/
+/* 
+The cpu frequency is defined in the makefile, the below definition is used only if the cpu frequency
+is not defined in the makefile.
+*/
+
+#ifndef F_CPU
+#define F_CPU                         8000000UL        /* CPU CLOCK FREQUENCY */
+#endif
+/*
+Those values are the failsafe servo values and the values for the non used channels
+If for example you leave unconnected channel 7, the servo pulse of channel 7 in the PPM train
+will be the failsafe value set below as "RC_FAILSAFE_CHANNEL_7" thus 1000 microseconds.
+*/ 
+
+#define RC_FAILSAFE_CHANNEL_1         1500UL
+#define RC_FAILSAFE_CHANNEL_2         1500UL
+#define RC_FAILSAFE_CHANNEL_3         1000UL 
+#define RC_FAILSAFE_CHANNEL_4         1500UL
+#define RC_FAILSAFE_CHANNEL_5         1000UL
+#define RC_FAILSAFE_CHANNEL_6         1000UL
+#define RC_FAILSAFE_CHANNEL_7         1000UL 
+#define RC_FAILSAFE_CHANNEL_8         1000UL 
+
+
+/*
+When signal is lost 1= ppm waveform remain on with failsafe values, 0= ppm waveform is off 
+For use with Paparazzi use "0", the autopilot has it's own failsafe values when PPM signal is lost.
+The above failsafe values will kick in only if the servo inputs are lost which cannot happen with
+a receiver with dsp processing that provides "hold" or "failsafe" features.
+If the receiver only provides "hold" on the last good servo signals received  it is not suitable
+for use with the Paparazzi autopilot as it will prohibit the autopilot entering the "AUTO2" or "HOME" mode.
+If you use a receiver with failsafe ability then remember to set the failsafe value of the receiver
+to 2000 microseconds for the "MODE" channel so the autopilot can go to "AUTO2" or "HOME" mode when the receiver
+loose the tx signal. The servo signals on receivers like PCM, IPD and any receiver with servo hold AND failsafe
+will not stop outputing servo pulses thus the encoder will never stop producing a PPM pulse train
+except if the throttle channel is used as an indication by setting the "RC_LOST_CHANNEL" to a value above 0.
+If you use the throttle channel as an indication that the TX signal is lost then:
+RC_USE_FAILSAFE set to 0 means that the ppm output will be shut down and if you set
+RC_USE_FAILSAFE  to 1 the ppm output will NOT shut down but it will now output the failsafe values
+defined above. 
+*/
+#define RC_USE_FAILSAFE               1
+
+/*
+The channel number (1,2,3...7,8) that will be used as a receiver ready indicator.
+If set above 0 then this channel should be always connected otherwise
+the PPM output will not be enabled as the ppm encoder will wait for ever for this channel
+to produce a valid servo pulse. 
+If 0 then the first connected channel going from channel 1 to 8 will be used, in other words
+which ever connected channel comes on first it will indicate that the receiver is operational.
+The detection of all connected channels is independent of this setting, this channel
+is used as an indication that the receiver is up and running only. 
+Valid only if greater than 0. 
+*/
+#define RC_RX_READY_CHANNEL           0     /* 0 = No channel will be exclusively checked. */
+
+/* 
+The default value for the rc signal lost indicator channel and it's threshold value in microseconds .
+If the value is above 1500 microseconds then when the signal lost indicator channel servo pulse exceeds
+RC_LOST_THRESHOLD then the ppm output will be shut down.
+If the value is below 1500 microseconds then when the signal lost indicator channel servo pulse gets lower than
+RC_LOST_THRESHOLD then the ppm output will be shut down.
+If the RC_USE_FAILSAFE is set to 1 then the ppm output will not stop producing pulses but now
+the ppm wavetrain will contain the failsafe values defined in the beginning of this file. 
+Valid only if RC_LOST_CHANNEL > 0
+*/
+#define RC_LOST_CHANNEL               3      /* Defaul is the throttle channel. You can use any channel. */
+#define RC_LOST_THRESHOLD             2025   /* Any value below 1300 or above 1700 microseconds. */
+
+
+#define RC_PPM_GEN_CHANNELS           8      /* How many channels the PPM output frame will have. */
+
+#define RC_PPM_OUTPUT_TYPE            0      /* 1 = POSITIVE PULSE, 0= NEGATIVE PULSE */
+
+
+#define RC_MUX_CHANNEL                8     /*Jordi: Channel that will control the MUX */
+#define RC_MUX_REVERSE                0     /*Jordi: Inverted the MUX output (NOT), 0 = normal, 1 = Rev*/
+#define RC_MUX_MIN                    0  /*Jordi: the min point */
+#define RC_MUX_MAX                    1250  /*Jordi: the max point */
+
+/*
+0 = the reset period is constant but the total PPM frame period is varying.
+1 = the reset period is varying but the total PPM frame period is constant (always 23,5 ms for example).
+*/
+#define RC_CONSTANT_PPM_FRAME_TIME    0
+
+
+/********************************************************************************************************/
+/* 
+                                      D A N G E R
+The below settings are good for almost every situation and probably you don't need to change them.
+Be carefull because you can cause a lot of problems if you change anything without knowing
+exactly what you are doing.
+*/
+#define RC_SERVO_MIN_PW               800UL   /* in microseconds */
+#define RC_SERVO_CENTER_PW            1500UL  /* in microseconds */
+#define RC_SERVO_MAX_PW               2200UL  /* in microseconds */
+#define RC_PPM_CHANNEL_SYNC_PW        300UL   /* the width of the PPM channel sync pulse in microseconds. */
+#define RC_PPM_RESET_PW               0UL     /* Min reset time in microseconds(ie. 7500UL), 0=AUTO */
+#define RC_PPM_FRAME_LENGTH_MS        0UL     /* Max PPM frame period in microseconds(ie. 23500UL), 0=AUTO */
+#define RC_MAX_TIMEOUT                30000UL /* in microseconds, max ~65000 @ 8 mHZ, ~32000 @ 16 Mhz */
+#define RC_MAX_BAD_PPM_FRAMES         4       /* Max consecutive bad servo pulse samples before failsafe */
+#define RC_LED_FREQUENCY              5UL     /* In Hertz, not accurate, min=1, max=you will get a warning */
+#define RC_THROTTLE_CH_OFFSET_PW      25      /* in microseconds. */
+
+/********************************************************************************************************/
+/*                                  USER CONFIGURATION BLOCK END                                        */ 
+/********************************************************************************************************/
+
+#endif //#ifndef SERVO2PPM_SETTINGS_H
diff --git a/archive/WaypointWriterMega/EEPROM.pde b/archive/WaypointWriterMega/EEPROM.pde
new file mode 100644
index 0000000000..ee0fcc718a
--- /dev/null
+++ b/archive/WaypointWriterMega/EEPROM.pde
@@ -0,0 +1,105 @@
+
+void writePoints()
+{
+    int mem;
+	struct Location loc;
+
+
+    for (byte i = 0; i < waypoint_total; i++){
+
+		loc.id 			= (uint8_t) mission[i][0];
+		loc.options 	= (uint8_t) mission[i][1];
+		loc.p1 			= (uint8_t) mission[i][2];
+	    loc.alt 		= (long)(mission[i][3] * 100);
+		loc.lat 		= (long)(mission[i][4] * t7);
+    	loc.lng 		= (long)(mission[i][5] * t7);
+
+		switch(loc.id){
+			case MAV_CMD_NAV_WAYPOINT:
+    			//loc.p1 = (byte)mission[i][4];// wp_radius
+    			//loc.p1 = WP_RADIUS;
+    			break;
+
+			case MAV_CMD_CONDITION_YAW:
+		    	loc.alt = (long)mission[i][3];	// speed
+			    loc.lat = (long)mission[i][4];	// rotation direction
+    			loc.lng = (long)mission[i][5];	// target yaw in deg
+    			break;
+		}
+
+		set_wp_with_index(loc,(i+1));
+
+		/*
+    	Serial.print((i+1),DEC);
+    	Serial.print(": ");
+    	Serial.print(loc.id,DEC);
+    	Serial.print(", ");
+    	Serial.print(loc.p1,DEC);
+    	Serial.print(", ");
+    	Serial.print(loc.alt,DEC);
+    	Serial.print(", ");
+    	Serial.print(loc.lat,DEC);
+    	Serial.print(", ");
+    	Serial.println(loc.lng,DEC);
+		*/
+	}
+}
+
+
+struct Location get_wp_with_index(int i)
+{
+	struct Location temp;
+	long mem;
+
+	// Find out proper location in memory by using the start_byte position + the index
+	// --------------------------------------------------------------------------------
+	if (i > waypoint_total) {
+		temp.id = CMD_BLANK;
+	}else{
+		// read WP position
+		mem = (WP_START_BYTE) + (i * WP_SIZE);
+		temp.id = eeprom_read_byte((uint8_t*)mem);
+
+		mem++;
+		temp.options = eeprom_read_byte((uint8_t*)mem);
+
+		mem++;
+		temp.p1 = eeprom_read_byte((uint8_t*)mem);
+
+		mem++;
+		temp.alt = (long)eeprom_read_dword((uint32_t*)mem);	// alt is stored in CM!
+
+		mem += 4;
+		temp.lat = (long)eeprom_read_dword((uint32_t*)mem);
+
+		mem += 4;
+		temp.lng = (long)eeprom_read_dword((uint32_t*)mem);
+	}
+	return temp;
+}
+
+void set_wp_with_index(struct Location temp, int i)
+{
+	i = constrain(i, 0, waypoint_total.get());
+	uint32_t mem = WP_START_BYTE + (i * WP_SIZE);
+
+	eeprom_write_byte((uint8_t *)	mem, temp.id);
+
+	mem++;
+	eeprom_write_byte((uint8_t *)	mem, temp.options);
+
+	mem++;
+	eeprom_write_byte((uint8_t *)	mem, temp.p1);
+
+	mem++;
+	eeprom_write_dword((uint32_t *)	mem, temp.alt);	// alt is stored in CM!
+
+	mem += 4;
+	eeprom_write_dword((uint32_t *)	mem, temp.lat);
+
+	mem += 4;
+	eeprom_write_dword((uint32_t *)	mem, temp.lng);
+}
+
+
+
diff --git a/archive/WaypointWriterMega/WaypointWriterCopterMega.pde b/archive/WaypointWriterMega/WaypointWriterCopterMega.pde
new file mode 100644
index 0000000000..c51ce359c3
--- /dev/null
+++ b/archive/WaypointWriterMega/WaypointWriterCopterMega.pde
@@ -0,0 +1,108 @@
+/*
+Arducopter 2 Waypoint writer
+Use this release to manually upload waypoints
+*/
+#include "defines.h"
+#include <FastSerial.h>
+#include <AP_Common.h>
+#include <GCS_MAVLink.h>    // MAVLink GCS definitions
+
+FastSerialPort0(Serial);        // FTDI/console
+
+// EEPROM addresses
+#define EEPROM_MAX_ADDR		4096
+// parameters get the first 1KiB of EEPROM, remainder is for waypoints
+#define WP_START_BYTE 0x400 // where in memory home WP is stored + all other WP
+#define WP_SIZE 15
+
+// you can keep your missions stored here, just uncommment the mission to load: (only 1 at a time.)
+//#include "mission_example.h"
+#include "sparkfun.h"
+//#include "takeoff.h"
+
+//#include "SFO_T3.h"
+//#include "SFO_landMe.h"
+//#include "Basic_mission_example.h"
+
+const long t7 = 10000000;	// used to scale GPS values for EEPROM storage
+
+byte 	yaw_tracking = TRACK_NONE;			// no tracking, point at next wp, or at a target
+
+
+#define k_param_RTL_altitude 163
+#define k_param_waypoint_total 221
+#define k_param_waypoint_radius 224
+
+AP_Int16	RTL_altitude      ((int8_t)9,					k_param_RTL_altitude,     NULL);
+AP_Int8		waypoint_total    ((int8_t)0,                   k_param_waypoint_total,   NULL);
+AP_Int8		waypoint_radius   ((int8_t)WP_RADIUS,			k_param_waypoint_radius,  NULL);
+
+
+// You DON'T need to edit below this line
+// ----------------------------------
+#include <avr/io.h>
+#include <avr/eeprom.h>
+
+void setup()
+{
+	Serial.begin(38400);
+	delay(1000);
+	Serial.println("\nACM Waypoint writer 1.0.3 Public Alpha \n\n");
+
+	Serial.printf("Test: %d\n", (int)MAV_CMD_NAV_LAND);
+
+	//*
+	// number of waypoints, add 1 for home
+	waypoint_total.set_and_save((sizeof(mission) / 24));
+	waypoint_radius.set_and_save(WP_RADIUS);
+	RTL_altitude.set_and_save(ALT_TO_HOLD * 100);
+
+	writePoints();  			// saves Waypoint Array
+
+	delay(1000);
+
+	if(RTL_altitude < 0){
+		Serial.print("Hold current altitude above home after RTL.\n");
+	}else{
+		Serial.printf("Hold this altitude over home: %ld meters\n", (long)RTL_altitude.get());
+	}
+
+	Serial.printf("WP Radius: %ld meters\n", (long)RTL_altitude.get());
+	Serial.printf("WP Radius: %d meters\n", (int)waypoint_radius.get());
+	Serial.printf("total # of commands: %d\n", (int)waypoint_total.get());
+
+	report_wp(255);
+
+	//*/
+}
+
+void loop()
+{
+
+}
+
+
+void report_wp(byte index)
+{
+	if(index == 255){
+		for(byte i = 0; i <= waypoint_total; i++){
+			struct Location temp = get_wp_with_index(i);
+			print_wp(&temp, i);
+		}
+	}else{
+		struct Location temp = get_wp_with_index(index);
+		print_wp(&temp, index);
+	}
+}
+
+void print_wp(struct Location *cmd, byte index)
+{
+	Serial.printf_P(PSTR("command #: %d \tid:%d\top:%d\tp1:%d\tp2:%ld\tp3:%ld\tp4:%ld \n"),
+		(int)index,
+		(int)cmd->id,
+		(int)cmd->options,
+		(int)cmd->p1,
+		cmd->alt,
+		cmd->lat,
+		cmd->lng);
+}
diff --git a/archive/WaypointWriterMega/defines.h b/archive/WaypointWriterMega/defines.h
new file mode 100644
index 0000000000..85e5eaca5b
--- /dev/null
+++ b/archive/WaypointWriterMega/defines.h
@@ -0,0 +1,298 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+
+// ACM:
+// Motors
+#define RIGHT CH_1
+#define LEFT CH_2
+#define FRONT CH_3
+#define BACK CH_4
+#define RIGHTFRONT CH_7
+#define LEFTBACK CH_8
+#define MAX_SERVO_OUTPUT 2700
+
+// active altitude sensor
+// ----------------------
+#define SONAR 0
+#define BARO 1
+
+// Frame types
+#define PLUS_FRAME 0
+#define X_FRAME 1
+#define TRI_FRAME 2
+#define HEXAX_FRAME 3
+#define Y6_FRAME 4
+#define HEXAP_FRAME 5
+
+// Internal defines, don't edit and expect things to work
+// -------------------------------------------------------
+
+#define TRUE 1
+#define FALSE 0
+#define ToRad(x) (x*0.01745329252)	// *pi/180
+#define ToDeg(x) (x*57.2957795131)	// *180/pi
+
+#define DEBUG 0
+#define LOITER_RANGE 60 // for calculating power outside of loiter radius
+
+#define T6 1000000
+#define T7 10000000
+
+// GPS type codes - use the names, not the numbers
+#define GPS_PROTOCOL_NONE	-1
+#define GPS_PROTOCOL_NMEA	0
+#define GPS_PROTOCOL_SIRF	1
+#define GPS_PROTOCOL_UBLOX	2
+#define GPS_PROTOCOL_IMU	3
+#define GPS_PROTOCOL_MTK	4
+#define GPS_PROTOCOL_HIL	5
+#define GPS_PROTOCOL_MTK16	6
+
+// Radio channels
+// Note channels are from 0!
+//
+// XXX these should be CH_n defines from RC.h at some point.
+#define CH_1 0
+#define CH_2 1
+#define CH_3 2
+#define CH_4 3
+#define CH_5 4
+#define CH_6 5
+#define CH_7 6
+#define CH_8 7
+
+#define CH_ROLL CH_1
+#define CH_PITCH CH_2
+#define CH_THROTTLE CH_3
+#define CH_RUDDER CH_4
+#define CH_YAW CH_4
+
+// HIL enumerations
+#define HIL_PROTOCOL_XPLANE			1
+#define HIL_PROTOCOL_MAVLINK		2
+
+#define HIL_MODE_DISABLED			0
+#define HIL_MODE_ATTITUDE			1
+#define HIL_MODE_SENSORS			2
+
+// GCS enumeration
+#define GCS_PROTOCOL_STANDARD		0	// standard APM protocol
+#define GCS_PROTOCOL_LEGACY			1	// legacy ArduPilot protocol
+#define GCS_PROTOCOL_XPLANE			2	// X-Plane HIL simulation
+#define GCS_PROTOCOL_DEBUGTERMINAL	3	//Human-readable debug interface for use with a dumb terminal
+#define GCS_PROTOCOL_MAVLINK	        4	// binary protocol for qgroundcontrol
+#define GCS_PROTOCOL_NONE			-1	// No GCS output
+
+// Auto Pilot modes
+// ----------------
+#define STABILIZE 0			// hold level position
+#define ACRO 1				// rate control
+#define ALT_HOLD 2			// AUTO control
+#define SIMPLE 3			//
+#define AUTO 4				// AUTO control
+#define GCS_AUTO 5			// AUTO control
+#define LOITER 6			// Hold a single location
+#define RTL 7				// AUTO control
+#define NUM_MODES 8
+
+// YAW debug
+// ---------
+#define YAW_HOLD 0
+#define YAW_BRAKE 1
+#define YAW_RATE 2
+
+// CH_6 Tuning
+// -----------
+#define CH6_NONE 0
+#define CH6_STABLIZE_KP 1
+#define CH6_STABLIZE_KD 2
+#define CH6_BARO_KP 3
+#define CH6_BARO_KD 4
+#define CH6_SONAR_KP 5
+#define CH6_SONAR_KD 6
+#define CH6_Y6_SCALING 7
+
+// nav byte mask
+// -------------
+#define NAV_LOCATION 1
+#define NAV_ALTITUDE 2
+#define NAV_DELAY    4
+
+
+// Commands - Note that APM now uses a subset of the MAVLink protocol commands.  See enum MAV_CMD in the GCS_Mavlink library
+#define CMD_BLANK 0 // there is no command stored in the mem location requested
+#define NO_COMMAND 0
+
+// Nav Yaw Tracking
+#define TRACK_NONE 		1
+#define TRACK_NEXT_WP 	2
+#define TRACK_TARGET_WP 4
+
+// Waypoint options
+#define WP_OPTION_ALT_RELATIVE 		1
+#define WP_OPTION_ALT_CHANGE 		2
+#define WP_OPTION_YAW 				4
+#define WP_OPTION_ALT_REQUIRED		8
+#define WP_OPTION_RELATIVE			16
+//#define WP_OPTION_					32
+//#define WP_OPTION_					64
+#define WP_OPTION_NEXT_CMD			128
+
+//repeating events
+#define NO_REPEAT 0
+#define CH_5_TOGGLE 1
+#define CH_6_TOGGLE 2
+#define CH_7_TOGGLE 3
+#define CH_8_TOGGLE 4
+#define RELAY_TOGGLE 5
+#define STOP_REPEAT 10
+
+//#define MAV_CMD_CONDITION_YAW 23
+
+//  GCS Message ID's
+#define MSG_ACKNOWLEDGE 0x00
+#define MSG_HEARTBEAT 0x01
+#define MSG_ATTITUDE 0x02
+#define MSG_LOCATION 0x03
+#define MSG_PRESSURE 0x04
+#define MSG_STATUS_TEXT 0x05
+#define MSG_PERF_REPORT 0x06
+#define MSG_MODE_CHANGE 0x07 //This is different than HEARTBEAT because it occurs only when the mode is actually changed
+#define MSG_VERSION_REQUEST 0x08
+#define MSG_VERSION 0x09
+#define MSG_EXTENDED_STATUS 0x0a
+#define MSG_CPU_LOAD 0x0b
+
+#define MSG_COMMAND_REQUEST 0x20
+#define MSG_COMMAND_UPLOAD 0x21
+#define MSG_COMMAND_LIST 0x22
+#define MSG_COMMAND_MODE_CHANGE 0x23
+#define MSG_CURRENT_WAYPOINT 0x24
+
+#define MSG_VALUE_REQUEST 0x30
+#define MSG_VALUE_SET 0x31
+#define MSG_VALUE 0x32
+
+#define MSG_PID_REQUEST 0x40
+#define MSG_PID_SET 0x41
+#define MSG_PID 0x42
+#define MSG_VFR_HUD 0x4a
+
+#define MSG_TRIM_STARTUP 0x50
+#define MSG_TRIM_MIN 0x51
+#define MSG_TRIM_MAX 0x52
+#define MSG_RADIO_OUT 0x53
+#define MSG_RADIO_IN  0x54
+
+#define MSG_RAW_IMU 0x60
+#define MSG_GPS_STATUS 0x61
+#define MSG_GPS_RAW 0x62
+
+#define MSG_SERVO_OUT 0x70
+
+#define MSG_PIN_REQUEST 0x80
+#define MSG_PIN_SET 0x81
+
+#define MSG_DATAFLASH_REQUEST 0x90
+#define MSG_DATAFLASH_SET 0x91
+
+#define MSG_EEPROM_REQUEST 0xa0
+#define MSG_EEPROM_SET 0xa1
+
+#define MSG_POSITION_CORRECT 0xb0
+#define MSG_ATTITUDE_CORRECT 0xb1
+#define MSG_POSITION_SET 0xb2
+#define MSG_ATTITUDE_SET 0xb3
+#define MSG_LOCAL_LOCATION 0xb4
+
+#define SEVERITY_LOW 1
+#define SEVERITY_MEDIUM 2
+#define SEVERITY_HIGH 3
+#define SEVERITY_CRITICAL 4
+
+//  Logging parameters
+#define LOG_INDEX_MSG			0xF0
+#define LOG_ATTITUDE_MSG		0x01
+#define LOG_GPS_MSG				0x02
+#define LOG_MODE_MSG			0X03
+#define LOG_CONTROL_TUNING_MSG	0X04
+#define LOG_NAV_TUNING_MSG		0X05
+#define LOG_PERFORMANCE_MSG		0X06
+#define LOG_RAW_MSG				0x07
+#define LOG_CMD_MSG				0x08
+#define LOG_CURRENT_MSG 		0x09
+#define LOG_STARTUP_MSG 		0x0A
+#define TYPE_AIRSTART_MSG		0x00
+#define TYPE_GROUNDSTART_MSG	0x01
+#define MAX_NUM_LOGS			50
+
+#define MASK_LOG_ATTITUDE_FAST 	(1<<0)
+#define MASK_LOG_ATTITUDE_MED 	(1<<1)
+#define MASK_LOG_GPS 			(1<<2)
+#define MASK_LOG_PM 			(1<<3)
+#define MASK_LOG_CTUN 			(1<<4)
+#define MASK_LOG_NTUN			(1<<5)
+#define MASK_LOG_MODE			(1<<6)
+#define MASK_LOG_RAW			(1<<7)
+#define MASK_LOG_CMD			(1<<8)
+#define MASK_LOG_CURRENT		(1<<9)
+#define MASK_LOG_SET_DEFAULTS	(1<<15)
+
+// Waypoint Modes
+// ----------------
+#define ABS_WP 0
+#define REL_WP 1
+
+// Command Queues
+// ---------------
+#define COMMAND_MUST 0
+#define COMMAND_MAY 1
+#define COMMAND_NOW 2
+
+// Events
+// ------
+#define EVENT_WILL_REACH_WAYPOINT 1
+#define EVENT_SET_NEW_WAYPOINT_INDEX 2
+#define EVENT_LOADED_WAYPOINT 3
+#define EVENT_LOOP 4
+
+// Climb rate calculations
+#define	ALTITUDE_HISTORY_LENGTH 8	//Number of (time,altitude) points to regress a climb rate from
+
+
+#define BATTERY_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*VOLT_DIV_RATIO
+
+#define CURRENT_VOLTAGE(x) (x*(INPUT_VOLTAGE/1024.0))*CURR_VOLT_DIV_RATIO
+#define CURRENT_AMPS(x) (x*(INPUT_VOLTAGE/1024.0))*CURR_AMP_DIV_RATIO
+
+#define	AIRSPEED_CH 7			// The external ADC channel for the airspeed sensor
+#define BATTERY_PIN1 0		        // These are the pins for the voltage dividers
+#define BATTERY_PIN2 1
+#define BATTERY_PIN3 2
+#define BATTERY_PIN4 3
+
+#define VOLTAGE_PIN_0 0 // These are the pins for current sensor: voltage
+#define CURRENT_PIN_1 1 // and current
+
+#define RELAY_PIN 47
+
+
+// sonar
+#define SonarToCm(x) (x*1.26)   // Sonar raw value to centimeters
+
+// Hardware Parameters
+#define SLIDE_SWITCH_PIN 40
+#define PUSHBUTTON_PIN 41
+
+#define A_LED_PIN 37			//36 = B,	37 = A,	35 = C
+#define B_LED_PIN 36
+#define C_LED_PIN 35
+
+
+// EEPROM addresses
+#define EEPROM_MAX_ADDR		4096
+// parameters get the first 1KiB of EEPROM, remainder is for waypoints
+#define WP_START_BYTE 0x400 // where in memory home WP is stored + all other WP
+#define WP_SIZE 15
+#define ONBOARD_PARAM_NAME_LENGTH 15
+#define MAX_WAYPOINTS  ((EEPROM_MAX_ADDR - WP_START_BYTE) / WP_SIZE) - 1 // - 1 to be safe
diff --git a/archive/WaypointWriterMega/event_example.h b/archive/WaypointWriterMega/event_example.h
new file mode 100644
index 0000000000..1ffe8b6c91
--- /dev/null
+++ b/archive/WaypointWriterMega/event_example.h
@@ -0,0 +1,15 @@
+// Mission example:
+
+#define WP_RADIUS 3 		// What is the minimum distance to reach a waypoint?
+#define ALT_TO_HOLD	-1		// Altitude to hold above home in meters
+							// Enter -1 to maintain current altitude when returning to home
+
+
+// The mission:
+float mission[][5] = {
+{MAV_CMD_NAV_TAKEOFF,           0, 		6, 		0, 			0},					// pitch 20, Altitude meters
+{MAV_CMD_NAV_WAYPOINT, 			0, 		6, 		37.776849, -122.405752},		// go to waypoint
+{MAV_CMD_CONDITION_YAW, 		180, 	5,	 	1, 			1},					// 180°, 5 seconds, clockwise, relative
+{MAV_CMD_NAV_RETURN_TO_LAUNCH,	0, 		0, 		0, 			0},					// no options for RTL
+{MAV_CMD_NAV_LAND, 				0, 		0, 		0,          0},		//
+};
diff --git a/archive/WaypointWriterMega/mission_example.h b/archive/WaypointWriterMega/mission_example.h
new file mode 100644
index 0000000000..f2968a9296
--- /dev/null
+++ b/archive/WaypointWriterMega/mission_example.h
@@ -0,0 +1,35 @@
+// Mission example:
+
+#define WP_RADIUS 3 		// What is the minimum distance to reach a waypoint?
+#define ALT_TO_HOLD	-1		// Altitude to hold above home in meters
+							// Enter -1 to maintain current altitude when returning to home
+
+// The mission:
+float mission[][6] = {
+	//	CMD					options	P1		Alt		Lat			Long
+	{MAV_CMD_NAV_TAKEOFF,  	0, 		0,  	3.2,	0, 		  	0},					// 1
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		0,		3.2, 	37.716899,	-122.381898},		// 2 turn 1
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		0,		3.2, 	37.717475,	-122.381394},		// 3 turn 2
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		0,		3.2, 	37.717149,	-122.380819},		// 4 turn 3
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		2,		3.2, 	37.716592,	-122.381358},		// 5 turn 4 with delay
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		5,		3.2, 	37.716752,	-122.381632},		// 6 Land WP with delay
+	{MAV_CMD_NAV_LAND, 	 	0,		0,		0,		0,          0},					// 7 LAND!
+};
+
+
+/*
+command #: 0 id:16 op:0 p1:0 p2:5007 	p3:377659180 p4:-1224329500
+command #: 1 id:22 op:0 p1:0 p2:220 	p3:0 		 p4:0
+command #: 2 id:16 op:0 p1:0 p2:220 	p3:377168992 p4:-1223819008
+command #: 3 id:16 op:0 p1:0 p2:220 	p3:377174752 p4:-1223813888
+command #: 4 id:16 op:0 p1:0 p2:220 	p3:377171488 p4:-1223808256
+command #: 5 id:16 op:0 p1:2 p2:220 	p3:377165920 p4:-1223813504
+command #: 6 id:16 op:0 p1:5 p2:220 	p3:377167520 p4:-1223816320
+command #: 7 id:21 op:0 p1:0 p2:0 		p3:0 		 p4:0
+
+*/
+
+
+/*
+Sparkfun
+*/
\ No newline at end of file
diff --git a/archive/WaypointWriterMega/sparkfun.h b/archive/WaypointWriterMega/sparkfun.h
new file mode 100644
index 0000000000..9ad88fd22b
--- /dev/null
+++ b/archive/WaypointWriterMega/sparkfun.h
@@ -0,0 +1,53 @@
+// Mission example:
+
+#define WP_RADIUS 5 		// What is the minimum distance to reach a waypoint?
+#define ALT_TO_HOLD	-1		// Altitude to hold above home in meters
+
+/*							// Enter -1 to maintain current altitude when returning to home
+// The mission:
+float mission[][6] = {
+	//	CMD					options	P1		Alt		Lat			Long
+	{MAV_CMD_NAV_TAKEOFF,  	0, 		0,  	3.0,	0, 		  	0},					// 1
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		0,		3.0, 	40.065219,	-105.209760},		// 2 turn 1
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		0,		3.0, 	40.064561,	-105.209798},		// 3 turn 2
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		0,		3.0, 	40.064511,	-105.210402},		// 4 turn 3
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		0,		3.0, 	40.065167,	-105.210453},		// 5 turn 4 with delay
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		5,		3.0, 	40.065189,	-105.210007},		// 6 Land WP with delay
+	{MAV_CMD_NAV_LAND, 	 	0,		0,		0,		0,          0},					// 7 LAND!
+};
+*/
+///*
+							// Enter -1 to maintain current altitude when returning to home
+// The mission:
+float mission[][6] = {
+	//	CMD					options	P1		Alt		Lat			Long
+	{MAV_CMD_NAV_TAKEOFF,  	0, 		0,  	3.0,	0, 		  	0},					// 1
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		0,		3.0, 	40.065219,	-105.209760},		//  turn 1
+
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		4,		3.0, 	40.064561,	-105.209798},		//  turn 2 pause
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		0,		3.0, 	40.064508,	-105.209808},		//  turn 2
+
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		4,		3.0, 	40.064507,	-105.210303},		//  turn 3 pause
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		0,		3.0, 	40.064524,	-105.210464},		//  turn 3
+
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		1,		3.0, 	40.065092,	-105.210483},		//  turn 4 pause
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		0,		3.0, 	40.065191,	-105.210349},		//  turn 4
+
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		4,		3.0, 	40.065189,	-105.210007},		//  Land WP with delay
+	{MAV_CMD_NAV_LAND, 	 	0,		0,		0,		0,          0},					//  LAND!
+};
+//*/
+
+/*
+// The mission:
+float mission[][6] = {
+	//	CMD					options	P1		Alt		Lat			Long
+	{MAV_CMD_NAV_TAKEOFF,  	0, 		0,  	6.0,	0, 		  	0},					// 1
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		0,		6.0, 	40.065219,	-105.209760},		// 2 turn 1
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		0,		6.0, 	40.064561,	-105.209798},		// 3 turn 2
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		0,		6.0, 	40.064511,	-105.210402},		// 4 turn 3
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		0,		6.0, 	40.065167,	-105.210453},		// 5 turn 4 with delay
+	{MAV_CMD_NAV_WAYPOINT, 	0, 		5,		6.0, 	40.065189,	-105.210007},		// 6 Land WP with delay
+	{MAV_CMD_NAV_LAND, 	 	0,		0,		0,		0,          0},					// 7 LAND!
+};
+//*/
\ No newline at end of file
diff --git a/archive/WaypointWriterMega/takeoff.h b/archive/WaypointWriterMega/takeoff.h
new file mode 100644
index 0000000000..c6e3e527a7
--- /dev/null
+++ b/archive/WaypointWriterMega/takeoff.h
@@ -0,0 +1,12 @@
+// Mission example:
+
+#define WP_RADIUS 5 		// What is the minimum distance to reach a waypoint?
+#define ALT_TO_HOLD	-1		// Altitude to hold above home in meters
+
+							// Enter -1 to maintain current altitude when returning to home
+// The mission:
+float mission[][6] = {
+	//	CMD					options	P1		Alt		Lat			Long
+	{MAV_CMD_NAV_TAKEOFF,  	0, 		0,  	3.0,	0, 		  	0},					// 1
+	{MAV_CMD_NAV_LAND, 	 	0,		0,		0,		0,          0},					// 7 LAND!
+};