N@Hover Leveler
I@Pitch Roll Hovercontroller Sky
O@Ur Ul Dl Dr 
Pitch1 = 5
Pitch2 =12
Roll1= -3.5
Roll2 = 3.5
P1 = Pitch > Pitch1 
P2 = Pitch < Pitch2 
R1 = Roll > Roll1
R2 = Roll < Roll2
PC =( P1 - P2)
RC = (R1 - R2)
Ha = PC == 0 & RC == 0
Hover = Ha * Hovercontroller + Flip
Sc = 4
I= -((90 < Roll) | (-90 > Roll))
I= ((90 > Roll) | (-90 < Roll))
Flip=Sky <40 
Ul = sgn(PC - RC*I)/Sc + Hover
Ur = sgn(PC + RC*I)/Sc + Hover
Dr= sgn(-PC + RC*I)/Sc + Hover
Dl = sgn(-PC - RC*I)/Sc + Hover
