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Matthias Grob
91057fe024
This mode was just kept as an example after its usage in a single case. It's basically untested and doesn't make much sense anymore since it's incompatible with the jerk limited trajectory implementations. It's implementation only switched hte configuration parameter of the velocity resulting from maximum stick deflection to be MPC_XY_VEL_MAX instead of MPC_VEL_MANUAL. This is according to todays understanding undesired because when hitting that limit the position controller has no room for corrections anymore. Also it saves some flash space on omnibus to remove the task at this point and makes romm for the acceleration feed-forward.