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MC docs: remove mention of removed smoothVel POS_MODE

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Signed-off-by: Silvan <silvan@auterion.com>
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Silvan 2025-11-13 19:34:43 +01:00
parent 0e7f980c76
commit 753411bc0b
4 changed files with 1 additions and 33 deletions
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2
docs/en/_sidebar.md
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@ -30,10 +30,10 @@
- [PID Tuning (Manual/Basic)](/config_mc/pid_tuning_guide_multicopter_basic.md)
- [PID Tuning Guide (Manual/Advanced)](/config_mc/pid_tuning_guide_multicopter.md)
- [Setpoint Tuning (Trajectory Generator)](/config_mc/mc_trajectory_tuning.md)
- [Jerk-limited Type Trajectory](/config_mc/mc_jerk_limited_type_trajectory.md)
- [Racer Setup](/config_mc/racer_setup.md)
- [Land Detector Configuration](/advanced_config/land_detector.md)
- [Static Pressure Buildup](/advanced_config/static_pressure_buildup.md)
- [Jerk-limited Type Trajectory](/config_mc/mc_jerk_limited_type_trajectory.md)
- [Flying (Basics)](/flying/basic_flying_mc.md)
- [Complete Vehicles](/complete_vehicles_mc/index.md)
- [ModalAI Starling (PX4 Dev Kit)](/complete_vehicles_mc/modalai_starling.md)

1
docs/en/concept/flight_tasks.md
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@ -141,7 +141,6 @@ The instructions below might be used to create a task named _MyTask_:
```c
...
* @value 0 Direct velocity
* @value 3 Smoothed velocity
* @value 4 Acceleration based
* @value 5 My task
* @group Multicopter Position Control

23
docs/en/config_mc/mc_jerk_limited_type_trajectory.md
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@ -4,12 +4,6 @@ The Jerk-limited trajectory type provides smooth motion in response to user stic
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).
To enable it in [Position mode](../flight_modes_mc/position.md) set the parameter [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE) to `Smoothed velocity`.
::: info
The jerk-limited type is not used _by default_ in position mode.
It may not be suitable for vehicles/use-cases that require a faster response - e.g. racer quads.
:::
## Trajectory Generator
@ -28,23 +22,6 @@ 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, the sticks are mapped to velocity where a full XY-stick deflection corresponds to [MPC_VEL_MANUAL](../advanced_config/parameter_reference.md#MPC_VEL_MANUAL) and a full Z-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
XY-plane:
- `jMax`: [MPC_JERK_MAX](../advanced_config/parameter_reference.md#MPC_JERK_MAX)
- `aMax`: [MPC_ACC_HOR_MAX](../advanced_config/parameter_reference.md#MPC_ACC_HOR_MAX)
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.

8
docs/en/config_mc/mc_trajectory_tuning.md
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@ -54,11 +54,6 @@ The following list provides an _overview_ of the different implementations of ho
- No unexpected tilt changes upon reaching travel speed velocity.
- Vertical stick input mapped with jerk-limited trajectory.
- Set in position mode using `MPC_POS_MODE=Acceleration based`.
- [Jerk-limited](../config_mc/mc_jerk_limited_type_trajectory.md)
- Used when smooth motion is required (e.g.: filming, mapping, cargo).
- Generates symmetric smooth S-curves where the jerk and acceleration limits are always guaranteed.
- May not be suitable for vehicles/use-cases that require a faster response - e.g. race quads.
- Set in position mode using `MPC_POS_MODE=Smoothed velocity`.
- **Simple position control**
- Sticks map directly to velocity setpoints without smoothing.
- Useful for velocity control tuning.
@ -68,9 +63,6 @@ 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`.