Try Position Mode.
It'll hold position and should give you total throttle control. Guess when you reach your altitude you can bring the stick back to your hover position and engage Loiter.
Also there is a setting that's set to a default of 2.5 m/s ascent and 1.5 m/s decent. Haven't got a MP running to tell you the exact parameter but its in the full list. Maybe changing that'll help too.
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It'll hold position and should give you total throttle control. Guess when you reach your altitude you can bring the stick back to your hover position and engage Loiter.
Also there is a setting that's set to a default of 2.5 m/s ascent and 1.5 m/s decent. Haven't got a MP running to tell you the exact parameter but its in the full list. Maybe changing that'll help too.
No one? Is there a way to increase the upward speed of loiter mode?