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Docs: mc jerk trajectory: bring back z-axis jerk tuning docs

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docs/en/config_mc/mc_jerk_limited_type_trajectory.md
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# Jerk-limited Type Trajectory for Multicopters
The Jerk-limited trajectory type provides smooth motion in response to user stick input or mission changes (e.g.: for filming, mapping, cargo).
The Jerk-limited trajectory type provides smooth motion to setpoint changes (e.g.: for filming, mapping, cargo).
It generates symmetric smooth S-curves where the jerk and acceleration limits are always guaranteed.
This trajectory type is always enabled in [Mission mode](../flight_modes_mc/mission.md).
This trajectory type is always enabled in autonomous modes like [Mission mode](../flight_modes_mc/mission.md).
## Trajectory Generator
@ -22,6 +22,17 @@ The resulting velocity profile is often called "S-Curve".
![Jerk-limited trajectory](../../assets/config/mc/jerk_limited_trajectory_1d.png)
## Manual Mode
In manual position mode, jerk limiting is only done for the verical axis. A full throttle stick deflection corresponds to [MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) (upward motion) or [MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) (downward motion).
### Constraints
Z-axis
- `jMax`: [MPC_JERK_MAX](../advanced_config/parameter_reference.md#MPC_JERK_MAX)
- `aMax` (upward motion): [MPC_ACC_UP_MAX](../advanced_config/parameter_reference.md#MPC_ACC_UP_MAX)
- `aMax` (downward motion): [MPC_ACC_DOWN_MAX](../advanced_config/parameter_reference.md#MPC_ACC_DOWN_MAX)
## Auto Mode
In auto mode, the desired velocity is [MPC_XY_CRUISE](../advanced_config/parameter_reference.md#MPC_XY_CRUISE) but this value is automatically adjusted depending on the distance to the next waypoint, the maximum possible velocity in the waypoint and the maximum desired acceleration and jerk.

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docs/en/config_mc/mc_trajectory_tuning.md
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@ -63,6 +63,9 @@ The following list provides an _overview_ of the different implementations of ho
Analogously to [position mode implementations](#position-mode-implementations) these are the implementations for interpreting vertical stick input:
- [Jerk-limited](../config_mc/mc_jerk_limited_type_trajectory.md)
- Smoothed vertical input.
- Set in altitude mode with `MPC_POS_MODE` Smoothed velocity or Acceleration based.
- **Simple altitude control**
- Unsmoothed vertical input.
- Set in altitude mode only when using `MPC_POS_MODE=Direct velocity`.