diff --git a/docs/en/_sidebar.md b/docs/en/_sidebar.md
index 390114db6a..e0aa23be01 100644
--- a/docs/en/_sidebar.md
+++ b/docs/en/_sidebar.md
@@ -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)
diff --git a/docs/en/concept/flight_tasks.md b/docs/en/concept/flight_tasks.md
index fad2dca6fe..9077b36cc3 100644
--- a/docs/en/concept/flight_tasks.md
+++ b/docs/en/concept/flight_tasks.md
@@ -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
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 e84c5589ac..83d39dac52 100644
--- a/docs/en/config_mc/mc_jerk_limited_type_trajectory.md
+++ b/docs/en/config_mc/mc_jerk_limited_type_trajectory.md
@@ -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.
diff --git a/docs/en/config_mc/mc_trajectory_tuning.md b/docs/en/config_mc/mc_trajectory_tuning.md
index 0d56e9e743..338a9802fc 100644
--- a/docs/en/config_mc/mc_trajectory_tuning.md
+++ b/docs/en/config_mc/mc_trajectory_tuning.md
@@ -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`.