N@Hover Leveler
I@Pitch Roll Hovercontroller Sky
O@Ur Ul Dl Dr
P1 = Pitch > 5
P2 = Pitch < 12
R1 =- (Roll < -3.5)-(Roll > 3.5)
R2 =- (-(Roll < -90)+(Roll > 90))2 
Sc = 4
Flip = Sky < 40
Flip1= Roll > 90 
Flip2 = Roll < -90
Roll1 = Roll + 90*-(-Flip1 + Flip2)



PC =( P1 - P2) 
RC = (R1 + R2)
Ha = PC == 0 & RC == 0
Hover = Ha * Hovercontroller + Flip
Ul = sgn(PC - RC)/Sc + Hover
Ur = sgn(PC + RC)/Sc + Hover
Dr= sgn(-PC + RC)/Sc + Hover
Dl = sgn(-PC - RC)/Sc + Hover
