Change altitude in Auto

ArduCopter Copter 4.0
1

Hello,
Is there any way to only change de altitude in automode? In using Arducopter 4.0.3
Thanks

2

currently arducopter support only change speed function only works .not change alt function .

3

Each waypoint is defined by position and altitude. If you want to climb vertical, you can define a new waypoint with same position and new altitude. If you want to climb between two separate waypoints, it will climb between the two waypoints. You can also smooth trajectories with spline waypoints.