code: def send_setpoint(self, roll, pitch, yaw, thrust):
          
          if thrust > 0xFFFF or thrust < 0:
              raise ValueError('Thrust must be between 0 and 0xFFFF')
  
          if self._x_mode:
              roll, pitch = 0.707 * (roll - pitch), 0.707 * (roll + pitch)
  
          pk = CRTPPacket()
          pk.port = CRTPPort.COMMANDER
          pk.data = struct.pack('<fffH', roll, -pitch, yaw, thrust)
          self._cf.send_packet(pk)
docs: Send a new control setpoint for roll/pitch/yaw/thrust to the copter
  
          The arguments roll/pitch/yaw/trust is the new setpoints that should
          be sent to the copter