VTOL How to Change Horizontal Hover Speed during Waypoint Missions


I am doing a research project and would like to fly a auto hover mission with a converted VTOL mini Talon.
I am using ArduPlane V4.2.3 and MissionPlanner 1.3.77
Is there any way to vary the horizontal hover speed (Q_WP_SPEED) after each waypoint during the mission?

Things I have tried so far:

  • Use the Command MAV_CMD_DO_SET_PARAMETER in my Mission to alter Q_WP_SPEED directly → this command is not supported
  • MAV_CMD_DO_CHANGE_SPEED → appears to only change fixed wing speed, the hover speed stays fixed at 5m/s

This is how I set up hover missions. I force the drone into VTOL mode with DO_VTOL_TRANSITION immediately after starting.