Merge pull request #452 from bitcraze/add-rate-explanation

mention rate mode setpoint set in doc

cflib/crazyflie/commander.py

@@ -71,11 +71,13 @@ def send_setpoint(self, roll, pitch, yawrate, thrust):
         """
         Send a new control setpoint for roll/pitch/yaw_Rate/thrust to the copter.
 
-        The meaning of these values is depended on the mode of the RPYT commander in the firmware
-        Default settings are Roll, pitch, yawrate and thrust
+        The meaning of these values is depended on the mode of the RPYT commander in the firmware.
+        The roll, pitch and yaw can be set in a rate or absolute mode with parameter group
+         `flightmode` with variables `stabModeRoll`, `.stabModeRoll` and `.stabModeRoll`.
+        Default settings are roll, pitch, yawrate and thrust
 
-        roll,  pitch are in degrees
-        yawrate is in degrees/s
+        roll,  pitch are in degrees,
+        yawrate is in degrees/s,
         thrust is an integer value ranging from 10001 (next to no power) to 60000 (full power)
         """
         if thrust > 0xFFFF or thrust < 0:

docs/user-guides/python_api.md

@@ -246,12 +246,17 @@ setpoint with the same thrust but with roll/pitch/yawrate = 0, this
 will make the Crazyflie stop accelerating. After 2 seconds without new
 setpoint the Crazyflie will cut power from the motors.
 
+
 Note that this command implements a motor lock mechanism that is
 intended to avoid flyaway when connecting a gamepad. You must send
 one command with thrust = 0 in order to unlock the command. This
 unlock procedure needs to be repeated if the watchdog described above
 kicks-in.
 
+This the current default behavior, but it depends on the [Supervisor configuration in the Crazyflie firmware](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/functional-areas/supervisor/).
+
+> Note: If you'd like to send rate commands instead, make sure that the [flightmode.stabModeRoll/Pitch/Yaw](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/api/params/#flightmode) is set to rate (0).
+
 ### Other commander setpoints sending
 
 If your Crazyflie has a positioning system (Loco, flowdeck, MoCap, Lighthouse), you can also send velocity or position setpoints, like for instance: