Flight mode with GPS

Hi everyone :slight_smile:

I start with PX4 and I would like to know what mode to use to have the equivalent of the mode loiter.

In fact I flew in position but to manage the gas, it is by stage and the altitude changes that more than 50% of gas, do you have a flight mode where you can control the gas manually?

Finally my drone is too aggressive, apart from the 4 parameters in the tab “tuning”, is there anything else?