docs(docs): MC remove mention of removed smoothVel POS_MODE (#25913)

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)

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

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)

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.