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mention rate mode setpoint set in doc #452

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merged 4 commits into from
May 7, 2024
Merged

mention rate mode setpoint set in doc #452

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50a4abc
mention rate mode setpoint set in doc
knmcguire Apr 24, 2024
9a19ceb
Update docs/user-guides/python_api.md
knmcguire May 7, 2024
06de96e
Update cflib/crazyflie/commander.py
knmcguire May 7, 2024
2d3422e
Update cflib/crazyflie/commander.py
knmcguire May 7, 2024
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10 changes: 6 additions & 4 deletions cflib/crazyflie/commander.py
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Expand Up @@ -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
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test

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:
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5 changes: 5 additions & 0 deletions docs/user-guides/python_api.md
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Expand Up @@ -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:
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