@name BlueFalconFloatKE
@inputs POWER KEYBOARD KBINUSE HEIGHTA HEIGHTB HEIGHTC HEIGHTD HEIGHTAVRG P R DP DR DHEIGHTA DHEIGHTB DHEIGHTC DHEIGHTD DHEIGHTAVRG
@outputs THROTTLE1 THROTTLE2 THROTTLE3 THROTTLE4
@persist
@trigger

A = P + DP #[Pitch + DeltaPitch = Thrust needed for stabilization]#
B = -A
C = R + DR
D = -C

HEIGHT = 40

if (POWER == 1) {
    if ((HEIGHTA + HEIGHTAVRG) / 2 <= HEIGHT) {THROTTLEA = 20 + (A * 5) - (DHEIGHTA * 5)} elseif ((HEIGHTA + HEIGHTAVRG) / 2 > HEIGHT + 60) {THROTTLEA = A} else {THROTTLEA = 8 + (A * 2) - (DHEIGHTA * 5)}
    if ((HEIGHTB + HEIGHTAVRG) / 2 <= HEIGHT) {THROTTLEB = 20 + (B * 5) - (DHEIGHTB * 5)} elseif ((HEIGHTB + HEIGHTAVRG) / 2 > HEIGHT + 60) {THROTTLEB = B} else {THROTTLEB = 8 + (B * 2) - (DHEIGHTB * 5)}
    if ((HEIGHTC + HEIGHTAVRG) / 2 <= HEIGHT) {THROTTLEC = 20 + (C * 5) - (DHEIGHTC * 5)} elseif ((HEIGHTC + HEIGHTAVRG) / 2 > HEIGHT + 60) {THROTTLEC = C} else {THROTTLEC = 8 + (C * 2) - (DHEIGHTC * 5)}
    if ((HEIGHTD + HEIGHTAVRG) / 2 <= HEIGHT) {THROTTLED = 20 + (D * 5) - (DHEIGHTD * 5)} elseif ((HEIGHTD + HEIGHTAVRG) / 2 > HEIGHT + 60) {THROTTLED = D} else {THROTTLED = 8 + (D * 2) - (DHEIGHTD * 5)}

    if (HEIGHTA <= 0 && DHEIGHTA < 0) {THROTTLE1 = 0 + (A * 5)} else {THROTTLE1 = THROTTLEA}
    if (HEIGHTB <= 0 && DHEIGHTB < 0) {THROTTLE2 = 0 + (B * 5)} else {THROTTLE2 = THROTTLEB}
    if (HEIGHTC <= 0 && DHEIGHTC < 0) {THROTTLE3 = 0 + (C * 5)} else {THROTTLE3 = THROTTLEC}
    if (HEIGHTD <= 0 && DHEIGHTD < 0) {THROTTLE4 = 0 + (D * 5)} else {THROTTLE4 = THROTTLED}
} else {
    THROTTLE1 = 0
    THROTTLE2 = 0
    THROTTLE3 = 0
    THROTTLE4 = 0
}
#[(c)Devin & Alexander]#