Climb to Target Altitude in between WPs?

Here's a quick mission planning question. 

So I have a fixed wing aircraft and I'd like to plan a mission in which the aircraft climbs to a target altitude and then performs a servo action. From testing, I found that if I set one waypoint at 30m and then the next at 100m, and the aircraft does not have time to ascend in between waypoints, it will simply fly through the 100m waypoint at whatever altitude it happens to be when it reaches there (in this case about 50m).

So my question is, is there a way to force the aircraft to ascend to the target altitude? Basically I want the plane to spiral up to the target altitude before going to the waypoint.

Thanks in advance!


I can use Mission Planner or APM Planner. My autopilot is a ReadyToFlyer 2.8 with 900MHz telemetry and a ublox 6 GPS + magnetometer. No airspeed sensor as of yet, but I could be convinced to buy one.

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  • After updating today, I found a new command in APM Planner which I hadn't seen last time I used it. "Change Alt & Continue." Hopefully that does what I have in mind...?
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