From cd89fe99679809fc1dea14ccee239b5c396e8846 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 27 May 2026 12:34:51 +0200 Subject: [PATCH] docs(docs): MC remove mention of removed smoothVel POS_MODE (#25913) --- docs/en/_sidebar.md | 2 +- docs/en/concept/flight_tasks.md | 1 - .../mc_jerk_limited_type_trajectory.md | 20 ++++--------------- docs/en/config_mc/mc_trajectory_tuning.md | 5 ----- 4 files changed, 5 insertions(+), 23 deletions(-) diff --git a/docs/en/_sidebar.md b/docs/en/_sidebar.md index f928540bd7..e83b58a74b 100644 --- a/docs/en/_sidebar.md +++ b/docs/en/_sidebar.md @@ -31,10 +31,10 @@ - [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](/complete_vehicles_mc/modalai_starling.md) diff --git a/docs/en/concept/flight_tasks.md b/docs/en/concept/flight_tasks.md index 83043322ea..0f643d6fe9 100644 --- a/docs/en/concept/flight_tasks.md +++ b/docs/en/concept/flight_tasks.md @@ -139,7 +139,6 @@ 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..da04e252b9 100644 --- a/docs/en/config_mc/mc_jerk_limited_type_trajectory.md +++ b/docs/en/config_mc/mc_jerk_limited_type_trajectory.md @@ -1,15 +1,9 @@ # Jerk-limited Type Trajectory for Multicopters -The Jerk-limited trajectory type provides smooth motion in response to user stick input or mission changes (e.g.: for filming, mapping, cargo). +The Jerk-limited trajectory type provides smooth motion in autonomous flight e.g. for filming, mapping, cargo. 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. -::: +This trajectory type is always enabled in autonomous modes like [Mission mode](../flight_modes_mc/mission.md). ## Trajectory Generator @@ -30,17 +24,11 @@ The resulting velocity profile is often called "S-Curve". ## 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). +In manual position and altitude mode, jerk limiting is applied only to the vertical axis. Full throttle stick deflection commands the maximum vertical velocity which is [MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) upwards and [MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) downwards. ### 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: - +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) diff --git a/docs/en/config_mc/mc_trajectory_tuning.md b/docs/en/config_mc/mc_trajectory_tuning.md index 0d56e9e743..ddea0b07b4 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.