StickAccelerationXY: make brake filter configurable

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

@@ -126,10 +126,10 @@ void StickAccelerationXY::applyJerkLimit(const float dt)
 Vector2f StickAccelerationXY::calculateDrag(Vector2f drag_coefficient, const float dt, const Vector2f &stick_xy,
 		const Vector2f &vel_sp)
 {
-	_brake_boost_filter.setParameters(dt, .8f);
+	_brake_boost_filter.setParameters(dt, _param_mpc_brake_filter.get());
 
 	if (stick_xy.norm_squared() < FLT_EPSILON) {
-		_brake_boost_filter.update(math::max(2.f, sqrtf(_param_mpc_vel_manual.get())));
+		_brake_boost_filter.update(_param_mpc_brake_factor.get());
 
 	} else {
 		_brake_boost_filter.update(1.f);

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

@@ -81,6 +81,9 @@ private:
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual,
 		(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor,
+		(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _param_mpc_acc_hor_max,
+		(ParamFloat<px4::params::MPC_BRAKE_FACTOR>) _param_mpc_brake_factor,
+		(ParamFloat<px4::params::MPC_BRAKE_FILTER>) _param_mpc_brake_filter,
 		(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max,
 		(ParamFloat<px4::params::MPC_TILTMAX_AIR>) _param_mpc_tiltmax_air
 	)

src/modules/mc_pos_control/mc_pos_control_params.c

@@ -508,9 +508,34 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f);
  * @decimal 2
  * @group Multicopter Position Control
  */
-
 PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f);
 
+/**
+ * Factor for faster braking than accelerating in position mode
+ *
+ * Note: In manual, this parameter is only used in MPC_POS_MODE 1.
+ *
+ * @unit m/s^2
+ * @min 2.0
+ * @max 15.0
+ * @increment 1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_BRAKE_FACTOR, 2.0f);
+
+/**
+ * Brake boost filter time constant
+ *
+ * @unit m/s^2
+ * @min 2.0
+ * @max 15.0
+ * @increment 1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_BRAKE_FILTER, 0.8f);
+
 /**
  * Maximum vertical acceleration in velocity controlled modes upward
  *