According to this document, MPC_JERK_AUTO is used for both horizontal and vertical control in common although they have quite different dynamics. One can want a smoother horizontal control but a more aggressive altitude control.
Can it be considered that there are separate JERK parameters for XY and Z controllers?
Yes, this makes sense and the modification to add a separate parameter for the vertical axis is straightforward.
If you want you can add one and submit a pull request to GitHub (just ping me and I’ll review it), otherwise we’ll consider it and will add it when someone has a bit of time.
