N@Hover Leveler
I@Pitch Roll Hovercontroller Sky
O@F L R A Hover
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)
Ha = PC == 0 & RC == 0
#Hover = Ha * Hovercontroller + Flip
Sc =1
I= ((90 < Roll) | (-90 > Roll))
I= -((90 > Roll) | (-90 < Roll))
Flip=Sky <40 
Hover = 0



Flipover = Roll > 170 | Roll < -170
Flipover == 1 -> F1=2;
Flipover == 0 -> F1=0;
F = sgn(-PC*I)/Sc + Hover
L = sgn(-RC*I)/Sc + Hover -F1
R = sgn( RC*I)/Sc + Hover+ F1
A = sgn(PC*I)/Sc + Hover 
