You can find RMS' full definition of freedom at http://www.gnu.org/philosophy/free-sw.html

To sum it up:

Free software is a matter of liberty, not price. To understand the concept, you should think of free as in free speech, not as in free beer.

Free software is a matter of the users' freedom to run, copy, distribute, study, change and improve the software. More precisely, it refers to four kinds of freedom, for the users of the software:

• The freedom to run the program, for any purpose (freedom 0).

• The freedom to study how the program works, and adapt it to your needs (freedom 1). Access to the source code is a precondition for this.

• The freedom to redistribute copies so you can help your neighbor (freedom 2).

• The freedom to improve the program, and release your improvements to the public, so that the whole community benefits (freedom 3). Access to the source code is a precondition for this.