Auto traj - Add dedicated parameter to enable trajectory smoothing in auto mode only

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -139,6 +139,7 @@ private:
 		(ParamFloat<px4::params::MPC_TKO_SPEED>) _tko_speed,
 		(ParamFloat<px4::params::MPC_LAND_ALT2>) MPC_LAND_ALT2, // altitude at which speed limit downwards reached minimum speed
 		(ParamInt<px4::params::MPC_POS_MODE>) MPC_POS_MODE,
+		(ParamInt<px4::params::MPC_AUTO_MODE>) MPC_AUTO_MODE,
 		(ParamInt<px4::params::MPC_ALT_MODE>) MPC_ALT_MODE,
 		(ParamFloat<px4::params::MPC_IDLE_TKO>) MPC_IDLE_TKO, /**< time constant for smooth takeoff ramp */
 		(ParamInt<px4::params::MPC_OBS_AVOID>) MPC_OBS_AVOID, /**< enable obstacle avoidance */
@@ -895,7 +896,7 @@ MulticopterPositionControl::start_flight_task()
 	} else if (_control_mode.flag_control_auto_enabled) {
 		// Auto relate maneuvers
 		int error = 0;
-		switch (MPC_POS_MODE.get()) {
+		switch (MPC_AUTO_MODE.get()) {
 		case 0:
 		case 1:
 		case 2:

src/modules/mc_pos_control/mc_pos_control_params.c

@@ -678,6 +678,26 @@ PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 0.4f);
  */
 PARAM_DEFINE_INT32(MPC_POS_MODE, 1);
 
+/**
+ * Auto sub-mode.
+ *
+ * The supported sub-modes are:
+ * 0 Direct line tracking, no smoothing
+ *
+ * 1 Not used
+ *
+ * 2 Not used
+ *
+ * 3 Jerk-limited trajectory
+ *
+ * @value 0 Default line tracking
+ * @value 1 N/A
+ * @value 2 N/A
+ * @value 3 Jerk-limited trajectory
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_INT32(MPC_AUTO_MODE, 3);
+
 /**
  * Delay from idle state to arming state.
  *