diff --git a/docs/en/config_mc/mc_jerk_limited_type_trajectory.md b/docs/en/config_mc/mc_jerk_limited_type_trajectory.md
index 83d39dac52..229864d8d5 100644
--- a/docs/en/config_mc/mc_jerk_limited_type_trajectory.md
+++ b/docs/en/config_mc/mc_jerk_limited_type_trajectory.md
@@ -1,9 +1,9 @@
 # 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.
diff --git a/docs/en/config_mc/mc_trajectory_tuning.md b/docs/en/config_mc/mc_trajectory_tuning.md
index 338a9802fc..ddea0b07b4 100644
--- a/docs/en/config_mc/mc_trajectory_tuning.md
+++ b/docs/en/config_mc/mc_trajectory_tuning.md
@@ -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`.