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I will look at it also myself more carefully and will make an update.

But just to doublecheck, in a normal use the Assist Mode must be activated while you hold corresponding button, right? Because, as I wrote, in Position Hold mode I see the setpoint->velocity values change only while holding the Assist Mode button. If I release it, setpoint->roll, pitch, yawRate, thrust are sended.

Thank you for the respond and best regards.a

Yes my bad, indeed you would need to hold the button. But than this is an actual issue and needs to be fixed soon. I will make an issue in the client repo about this. Thanks for letting us know!

Btw, could it maybe also be related to this issue ? https://github.com/bitcraze/crazyflie-c ... issues/388