Adjust waypoint altitude in auto mode by throttle input

In auto mode, the pilot commands except yaw are ignored in the mission. I want to be able to control altitude with the throttle stick. is there any setting I could achieve that? Or I need to modify some code base?
let say the pilot raise throttle and vehicle clime cm/s when releasing the throttle the vehicle stay at x attitude.

Any help/Infos would be appreciated.

Follow it here.

Thank Dave, I will follow that.