Drone AI kit

This is the Drone AI I used in the ADF-01 Falken Z. O. E. The first page of code controls the targeting of the drone while the second page controls the throttle. The throttle control is setup for the Ace Combat style throttle control which means one button for full throttle and one button for brake. All those control output should be directly added to the control surfaces. It is recommended to sum the AI control output with manual control output. Some part of the code may not be as plug and play so do be aware. I attempted to comment my code but some terms are a bit ambiguous so I will explain here: First page of code: The height detection has two tiers: one is an upper height which prevents the plane for diving too hard and a panic height which will force the plane to pitch up and climb. The pitch value for both heights dictates the pitch of the plane after correction. The value is given from -1 to 1 which correspond to 90 degrees up to 90 degrees down (do not take my word for it, the sign maybe wrong). Panic mode priority will determine if the drone will still follow the target even when the height is too low. The higher the value on, the more likely the drone will follow the target. Idle roll correction gain is used the tune the correction tendency of the plane when no target is engaged but the auto mode is on. It is basically a P controller that locks the plane roll to zero. Pitch Targeting PI gain is a PI controller that controls how well the drone tracks target on pitch axis. Yaw only angle has two nodes. The trigger threshold determines at which angle yaw only is triggered. The value on value for the lower node also determines the roll gain after the yaw only mode is triggered. The roll value is close to zero but not exactly zero. Second page of code: Boost angle determines within which angle will the plane activate full throttle to boost towards the target. Brake distance determines the distance the brake at which will engage after boost. All the pitch reducti