StickAccelerationXY: apply jerk limit after drag

src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp

@@ -14,7 +14,7 @@
  *    distribution.
  * 3. Neither the name PX4 nor the names of its contributors may be
  *    used to endorse or promote products derived from this software
- *    without spec{fic prior written permission.
+ *    without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
@@ -92,7 +92,6 @@ void StickAccelerationXY::generateSetpoints(Vector2f stick_xy, const float yaw,
 
 	Sticks::rotateIntoHeadingFrameXY(stick_xy, yaw, yaw_sp);
 	_acceleration_setpoint = stick_xy.emult(acceleration_scale);
-	applyJerkLimit(dt);
 
 	// Add drag to limit speed and brake again
 	Vector2f drag = calculateDrag(acceleration_scale.edivide(velocity_scale), dt, stick_xy, _velocity_setpoint);
@@ -110,6 +109,7 @@ void StickAccelerationXY::generateSetpoints(Vector2f stick_xy, const float yaw,
 
 	_acceleration_setpoint -= drag;
 
+	applyJerkLimit(dt);
 	applyTiltLimit(_acceleration_setpoint);
 
 	// Generate velocity setpoint by forward integrating commanded acceleration