From 1f1a32ae9d7e8906ea74193be58881f1e5714f88 Mon Sep 17 00:00:00 2001
From: PX4BuildBot <bot@px4.io>
Date: Wed, 11 Nov 2020 20:37:37 +0000
Subject: [PATCH] Update PX4 Firmware metadata Wed Nov 11 20:37:37 UTC 2020

---
 src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 6a3063d..f169386 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -4673,7 +4673,7 @@ Setting this parameter to 0 disables the filter</short_desc>
     </parameter>
     <parameter name="MPC_ACC_HOR_MAX" default="5.0" type="FLOAT">
       <short_desc>Maximum horizontal acceleration for auto mode and for manual mode</short_desc>
-      <long_desc>Maximum deceleration for MPC_POS_MODE 1. Maximum acceleration and deceleration for MPC_POS_MODE 3.</long_desc>
+      <long_desc>MPC_POS_MODE 1 just deceleration 3 acceleration and deceleration 4 just acceleration</long_desc>
       <min>2.0</min>
       <max>15.0</max>
       <unit>m/s^2</unit>
@@ -4739,7 +4739,7 @@ Setting this parameter to 0 disables the filter</short_desc>
     </parameter>
     <parameter name="MPC_JERK_MAX" default="8.0" type="FLOAT">
       <short_desc>Maximum jerk limit</short_desc>
-      <long_desc>Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions, but it also limits its agility (how fast it can change directions or break). Setting this to the maximum value essentially disables the limit. Note: This is only used when MPC_POS_MODE is set to a smoothing mode 1 or 3.</long_desc>
+      <long_desc>Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions, but it also limits its agility (how fast it can change directions or break). Setting this to the maximum value essentially disables the limit. Note: This is only used when MPC_POS_MODE is set to a smoothing mode 1, 3 or 4.</long_desc>
       <min>0.5</min>
       <max>500.0</max>
       <unit>m/s^3</unit>
@@ -4815,13 +4815,14 @@ Setting this parameter to 0 disables the filter</short_desc>
       <unit>s</unit>
       <decimal>2</decimal>
     </parameter>
-    <parameter name="MPC_POS_MODE" default="3" type="INT32">
+    <parameter name="MPC_POS_MODE" default="4" type="INT32">
       <short_desc>Manual-Position control sub-mode</short_desc>
-      <long_desc>The supported sub-modes are: 0 Simple position control where sticks map directly to velocity setpoints without smoothing. Useful for velocity control tuning. 1 Smooth position control with maximum acceleration and jerk limits based on slew-rates. 3 Smooth position control with maximum acceleration and jerk limits based on jerk optimized trajectory generator (different algorithm than 1).</long_desc>
+      <long_desc>The supported sub-modes are: 0 Simple position control where sticks map directly to velocity setpoints without smoothing. Useful for velocity control tuning. 1 Smooth position control with maximum acceleration and jerk limits based on slew-rates. 3 Smooth position control with maximum acceleration and jerk limits based on jerk optimized trajectory generator (different algorithm than 1). 4 Smooth position control where sticks map to acceleration and there's a virtual brake drag</long_desc>
       <values>
         <value code="0">Simple position control</value>
         <value code="1">Smooth position control</value>
         <value code="3">Smooth position control (Jerk optimized)</value>
+        <value code="4">Acceleration based input</value>
       </values>
     </parameter>
     <parameter name="MPC_SPOOLUP_TIME" default="1.0" type="FLOAT">