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

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Silvan
2025-12-05 18:00:01 +01:00
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docs/en/config_mc/mc_jerk_limited_type_trajectory.md
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# Jerk-limited Type Trajectory for Multicopters # 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. 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 ## Trajectory Generator
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![Jerk-limited trajectory](../../assets/config/mc/jerk_limited_trajectory_1d.png) ![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 ## 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. 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.
docs/en/config_mc/mc_trajectory_tuning.md
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Analogously to [position mode implementations](#position-mode-implementations) these are the implementations for interpreting vertical stick input: 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** - **Simple altitude control**
- Unsmoothed vertical input. - Unsmoothed vertical input.
- Set in altitude mode only when using `MPC_POS_MODE=Direct velocity`. - Set in altitude mode only when using `MPC_POS_MODE=Direct velocity`.