N@Hover Leveler 
I@Pitch Roll Hovercontroller RRoll LRoll
O@Ur Ul Dl Dr
Pitch1 =-3.5
Pitch2 =3.5
Roll1= -3.5
Roll2 = 3.5
P1 = Pitch > Pitch1 
P2 = Pitch < Pitch2 
R1 = Roll > Roll1
R2 = Roll < Roll2
PC =( P1 - P2)
RC = (R1 - R2)

Hover = Hovercontroller + Flip
Sc = 1
I= -((90 < Roll) | (-90 > Roll))
I= ((90 > Roll) | (-90 < Roll))
Sky=50
Flip=Sky <40 
RMin=75, RMax=85
Roll > RMin | Roll < -RMin | Roll < RMax | Roll > -RMax -> RollOff=0;
Roll < RMin | Roll > -RMin | Roll > RMax | Roll < -RMax -> RollOff=1;
Rollcon=(RRoll-LRoll)*I

Flipover = Roll > 170 | Roll < -170
Flipover == 1 -> F=6;
Flipover == 0 -> F=0;
Ul = sgn(PC - RC*I)/Sc + Hover - F +Rollcon * RollOff
Ur = sgn(PC + RC*I)/Sc + Hover + F -Rollcon * RollOff
Dr= sgn(-PC + RC*I)/Sc + Hover+ F -Rollcon * RollOff
Dl = sgn(-PC - RC*I)/Sc + Hover -F +Rollcon * RollOff
