Jerk estimation and trajectory setpoint clarification

Hi everyone, I’m trying to implement a sliding mode 4th order control on a multicopter.
I was asking if the firmware have a jerk estimation or not since i was not able to find it, and if in the trajectory_setpoint once i give the waypoint for the autonomous mission, the speeds, accelleration and jerk for the trajectory are auomatically set or the trajectory has only reference for the position and orientation.