MaEtUgR

roll = 0.7;
pitch = 0.8;
thrust = 0.9;

out = [thrust + 3*(roll + pitch); thrust + (-roll + pitch); thrust + 3*(roll - pitch); thrust + (-roll - pitch)]

max_out = max(out);
min_out = min(out);
delta_out_max = max_out - min_out;
roll_pitch_scale = 1;