Arducopter Dynamic speed change and altitude change didn't work

Mission Planner
1

Arducopter 4.0.0
If copter flying in auto mode as planned in mission, and I want to change speed and altitude of the mission from the mission planner action tap. But it’s not working

Currently we have to change the speed from tuning page and restart the mission to take effect.

2

Try it in GUIDED mode instead of AUTO. If I’m not wrong, you can’t make changes to the flight plan mid flight in AUTO mode.

3

Guided mode can change only with alt change not the speed