diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 48a2b1be03be3db1c3ad36e546148635e06505b9..eebf4ff56a9a1704a36a69f20c6b6c00116aedcb 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -4586,7 +4586,7 @@ if required by the gimbal (only in AUX output mode)
Maximum horizontal acceleration for auto mode and for manual mode
- Manual mode: Maximum deceleration for MPC_POS_MODE 1 and 2. Maximum acceleration and deceleration for MPC_POS_MODE 3. Auto mode: Used with MPC_AUTO_MODE 0 only. For MPC_AUTO_MODE 1, MPC_ACC_HOR is always used.
+ Maximum deceleration for MPC_POS_MODE 1 and 2. Maximum acceleration and deceleration for MPC_POS_MODE 3.
2.0
15.0
m/s/s
@@ -4612,23 +4612,6 @@ if required by the gimbal (only in AUX output mode)
Terrain hold
-
- Auto sub-mode
-
- Default line tracking
- Jerk-limited trajectory
-
-
-
- Cruise speed when angle prev-current/current-next setpoint
-is 90 degrees. It should be lower than MPC_XY_CRUISE
- Applies only in AUTO modes (includes also RTL / hold / etc.)
- 1.0
- 20.0
- m/s
- 2
- 1
-
Slow horizontal manual deceleration for manual mode
Note: This is only used when MPC_POS_MODE is set to 1.
@@ -4660,7 +4643,7 @@ is 90 degrees. It should be lower than MPC_XY_CRUISE
Jerk limit in auto mode
- 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. Note: This is only used in jerk-limited trajectory mode (MPC_AUTO_MODE 1)
+ 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.
5.0
80.0
m/s/s/s
@@ -4919,12 +4902,6 @@ the setpoint will be capped to MPC_XY_VEL_MAX
1.5
2
-
- Proportional gain for vertical trajectory position error
- 0.1
- 1.0
- 1
-
Differential gain for vertical velocity error
0.0