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PX4 · Jul 17, 2024 · 84e5ec7 · 84e5ec7
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diff --git a/en/computer_vision/collision_prevention.md b/en/computer_vision/collision_prevention.md
@@ -46,7 +46,7 @@ Configure collision prevention by [setting the following parameters](../advanced
 | <a id="CP_DELAY"></a>[CP_DELAY](../advanced_config/parameter_reference.md#CP_DELAY)                | Set the sensor and velocity setpoint tracking delay. See [Delay Tuning](#delay_tuning) below.                                                                                                                                                                                                   |
 | <a id="CP_GUIDE_ANG"></a>[CP_GUIDE_ANG](../advanced_config/parameter_reference.md#CP_GUIDE_ANG)    | Set the angle (to both sides of the commanded direction) within which the vehicle may deviate if it finds fewer obstacles in that direction. See [Guidance Tuning](#angle_change_tuning) below.                                                                                                 |
 | <a id="CP_GO_NO_DATA"></a>[CP_GO_NO_DATA](../advanced_config/parameter_reference.md#CP_GO_NO_DATA) | Set to 1 to allow the vehicle to move in directions where there is no sensor coverage (default is 0/`False`).                                                                                                                                                                                   |
-| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE)    | Set to 0 or 3 to enable Collision Prevention in Position Mode (default is 4).                                                                                                                                                                                                                   |
+| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE)    | Set to Direct velocity or Smoothed velocity to enable Collision Prevention in Position Mode (default is Acceleration based).                                                                                                                                                                                                                   |
 
 <a id="algorithm"></a>
 

diff --git a/en/config_mc/mc_jerk_limited_type_trajectory.md b/en/config_mc/mc_jerk_limited_type_trajectory.md
@@ -4,7 +4,7 @@ The Jerk-limited trajectory type provides smooth motion in response to user stic
 It generates symmetric smooth S-curves where the jerk and acceleration limits are always guaranteed.
 
 This trajectory type is always enabled in [Mission mode](../flight_modes_mc/mission.md).
-To enable it in [Position mode](../flight_modes_mc/position.md) set the parameter: [MPC_POS_MODE=3](../advanced_config/parameter_reference.md#MPC_POS_MODE).
+To enable it in [Position mode](../flight_modes_mc/position.md) set the parameter: [MPC_POS_MODE=Smoothed velocity](../advanced_config/parameter_reference.md#MPC_POS_MODE).
 
 ::: info
 The jerk-limited type is not used _by default_ in position mode.

diff --git a/en/config_mc/mc_trajectory_tuning.md b/en/config_mc/mc_trajectory_tuning.md
@@ -53,24 +53,24 @@ The following list provides an _overview_ of the different implementations of ho
   - Intuitive stick feel because it's like pushing the vehicle around.
   - No unexpected tilt changes upon reaching travel speed velocity.
   - Vertical stick input mapped with jerk-limited trajectory.
-  - Set in position mode using `MPC_POS_MODE=4`.
+  - Set in position mode using `MPC_POS_MODE=Acceleration based`.
 - [Jerk-limited](../config_mc/mc_jerk_limited_type_trajectory.md)
   - Used when smooth motion is required (e.g.: filming, mapping, cargo).
   - Generates symmetric smooth S-curves where the jerk and acceleration limits are always guaranteed.
   - May not be suitable for vehicles/use-cases that require a faster response - e.g. race quads.
-  - Set in position mode using `MPC_POS_MODE=3`.
+  - Set in position mode using `MPC_POS_MODE=Smoothed velocity`.
 - **Simple position control**
   - Sticks map directly to velocity setpoints without smoothing.
   - Useful for velocity control tuning.
-  - Set in position mode using `MPC_POS_MODE=0`.
+  - Set in position mode using `MPC_POS_MODE=Direct velocity`.
 
 ## Altitude Mode Implementations
 
 Analogously to [position mode implementations](#position-mode-implementations) these are the implementations for interpreting vertical stick input:
 
 - [Jerk-limited](../config_mc/mc_jerk_limited_type_trajectory.md)
   - Smoothed vertical input.
-  - Set in altitude mode with `MPC_POS_MODE` 3 or 4.
+  - Set in altitude mode with `MPC_POS_MODE` Smoothed velocity or Acceleration based.
 - **Simple altitude control**
   - Unsmoothed vertical input.
-  - Set in altitude mode only when using `MPC_POS_MODE=0`.
+  - Set in altitude mode only when using `MPC_POS_MODE=Direct velocity`.
diff --git a/en/flight_modes_mc/position.md b/en/flight_modes_mc/position.md
@@ -69,7 +69,7 @@ All the parameters in the [Multicopter Position Control](../advanced_config/para
 | <a id="MPC_LAND_ALT2"></a>[MPC_LAND_ALT2](../advanced_config/parameter_reference.md#MPC_LAND_ALT2)          | Altitude for second phase of slow landing. Below this altitude descending velocity gets limited to [`MPC_LAND_SPEED`](#MPC_LAND_SPEED). Value needs to be lower than "MPC_LAND_ALT1". Default 5m.                                                                                                            |
 | <a id="RCX_DZ"></a>`RCX_DZ`                                                                                 | RC dead zone for channel X. The value of X for throttle will depend on the value of [RC_MAP_THROTTLE](../advanced_config/parameter_reference.md#RC_MAP_THROTTLE). For example, if the throttle is channel 4 then [RC4_DZ](../advanced_config/parameter_reference.md#RC4_DZ) specifies the deadzone.          |
 | <a id="MPC_xxx"></a>`MPC_XXXX`                                                                              | Most of the MPC_xxx parameters affect flight behaviour in this mode (at least to some extent). For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover.                                                                       |
-| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE)             | Stick input to movement translation strategy. From PX4 v1.12 the default (4) is that stick position controls acceleration (in a similar way to a car accelerator pedal). Other options allow stick deflection to directly control speed over ground, with and without smoothing and acceleration limits.     |
+| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE)             | Stick input to movement translation strategy. From PX4 v1.12 the default (Acceleration based) is that stick position controls acceleration (in a similar way to a car accelerator pedal). Other options allow stick deflection to directly control speed over ground, with and without smoothing and acceleration limits.     |
 | <a id="MPC_ACC_HOR_MAX"></a>[MPC_ACC_HOR_MAX](../advanced_config/parameter_reference.md#MPC_ACC_HOR_MAX)    | Maximum horizontal acceleration.                                                                                                                                                                                                                                                                             |
 | <a id="MPC_VEL_MANUAL"></a>[MPC_VEL_MANUAL](../advanced_config/parameter_reference.md#MPC_VEL_MANUAL)       | Maximum horizontal velocity.                                                                                                                                                                                                                                                                                 |
 | <a id="MPC_LAND_SPEED"></a>[MPC_LAND_SPEED](../advanced_config/parameter_reference.md#MPC_LAND_SPEED)       | Landing descend rate. Default 0.7 m/s.                                                                                                                                                                                                                                                                       |