mc_pos_control: smooth position control from stick input

src/modules/mc_pos_control/mc_pos_control_params.c

@@ -414,7 +414,7 @@ PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
 PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 10.0f);
 
 /**
- * Maximum horizontal manual acceleration
+ * Acceleration for auto and for manual
  *
  * @unit m/s/s
  * @min 2.0
@@ -423,7 +423,20 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 10.0f);
  * @decimal 2
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAN, 5.0f);
+
+PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 5.0f);
+
+/**
+ * Slow horizontal manual deceleration for manual mode
+ *
+ * @unit m/s/s
+ * @min 0.5
+ * @max 10.0
+ * @increment 1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_DEC_HOR_SLOW, 5.0f);
 
 /**
  * Maximum vertical acceleration in velocity controlled modes upward
@@ -447,7 +460,36 @@ PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 10.0f);
  * @decimal 2
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 5.0f);
+PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 10.0f);
+
+/**
+ * Maximum jerk in manual controlled mode for BRAKING to zero.
+ * If this value is below MPC_JERK_MIN, the acceleration limit in xy and z
+ * is MPC_ACC_HOR_MAX and MPC_ACC_UP_MAX respectively instantaneously when the
+ * user demands brake (=zero stick input).
+ * Otherwise the acceleration limit increases from current acceleration limit
+ * towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit
+ *
+ * @unit m/s/s/s
+ * @min 0.0
+ * @max 15.0
+ * @increment 1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 0.0f);
+
+/**
+ * Minimum jerk in manual controlled mode for BRAKING to zero
+ *
+ * @unit m/s/s/s
+ * @min 0.5
+ * @max 10.0
+ * @increment 1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_JERK_MIN, 1.0f);
 
 /**
  * Altitude control mode, note mode 1 only tested with LPE