incoperated feedback

src/modules/mc_pos_control/multicopter_autonomous_params.c

@@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.5f);
 /**
  * Acceleration for autonomous and for manual modes
  *
- * When piloting manually, this parameter is only used in MPC_POS_MODE 4.
+ * When piloting manually, this parameter is only used in MPC_POS_MODE Acceleration based.
  *
  * @unit m/s^2
  * @min 2

src/modules/mc_pos_control/multicopter_position_mode_params.c

@@ -35,17 +35,19 @@
  * Position/Altitude mode variant
  *
  * The supported sub-modes are:
- * 0 Sticks directly map to velocity setpoints without smoothing.
- *   Also applies to vertical direction and Altitude mode.
- *   Useful for velocity control tuning.
- * 3 Sticks map to velocity but with maximum acceleration and jerk limits based on
- *   jerk optimized trajectory generator (different algorithm than 1).
- * 4 Sticks map to acceleration and there's a virtual brake drag
- *
- * @value 0 0 - Direct velocity
- * @value 3 3 - Smoothed velocity
- * @value 4 4 - Acceleration based
- * @group Multicopter Position Control
+ * "Direct velocity"
+ * Sticks directly map to velocity setpoints without smoothing.
+ * Also applies to vertical direction and Altitude mode.
+ * Useful for velocity control tuning.
+ * "Smoothed velocity"
+ * Sticks map to velocity but with maximum acceleration and jerk limits based on
+ * jerk optimized trajectory generator (different algorithm than 1).
+ * "Acceleration based"
+ * Sticks map to acceleration and there's a virtual brake drag
+ *
+ * @value 0 Direct velocity
+ * @value 3 Smoothed velocity
+ * @value 4 Acceleration based
  */
 PARAM_DEFINE_INT32(MPC_POS_MODE, 4);
 
@@ -122,7 +124,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.f);
  *
  * Setting this to the maximum value essentially disables the limit.
  *
- * Only used with smooth MPC_POS_MODE 3 and 4.
+ * Only used with smooth MPC_POS_MODE Smoothed velocity and Acceleration based.
  *
  * @unit m/s^3
  * @min 0.5