Change altitude during missions

[highfreq]

I have been looking forward to the possibility of changing altitude during a mission for years now. It is always, maybe, in the next release.

[IamPete1]

Were going to need some more information here. Change the altitude how? What vehicle type? You can put in waypoints with different altitudes and upload updated waypoints as the mission is running.

[IamPete1]

You can upload updated waypoints during the mission. If you have a working branch you could open a PR for consideration.

[IamPete1]

I'm still not really sure I understand the use case, how do you want to modify the altitude? From a GCS? From the transmitter? Why do you need to change the altitude? Could rangefinder and the surface tracking functionality be used?

The problem with "hacks" is not that the don't work, they work great. It is that they break things for other uses and/or make development or maintenance of other features hard.

[rmackay9]

This issue is already on the to-do list so I'm going to close this issue if that's OK.

• Copter: add stick mixing for height in Auto #11251
• Quadplane/Copter: Allow pilot nudging of position in AUTO modes #16177

[graheeth]

I changed the firmware slightly to allow the throttle input to be able the control the altitude height of the waypoints so there is a way to let you control altitude during automode. heres the link:
https://github.com/graheeth/AutoModeAltControl.git