Setting a Waypoint on top of another to do a increase in vertical altitude

I want to fly to a waypoint at 150 feet at that location have the drone ascend vertically to an altitude of 250 feet at that precise location automatically, then continue on its mission to another waypoint. Is there a way to do so without me doing the ascent manually?

I would set the 2nd Waypoint close to the first, set the altitude you want, then drag it to be on top of the first. You will still be able to access parameters for each one.

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Thanks Sam, I wasn’t sure if they could be stacked on atop another.