@Michelle Riggs yeah this is actually a pretty clean approach on the STM32WB07 — the `aci_hal_set_tx_power_level` call lets you step through the power levels at runtime, so you can absolutely build a simple hysteresis loop around your RSSI readings without anything fancy.
The main thing to be careful about is hysteresis band width. If your thresholds are too tight you'll end up thrashing between power levels when RSSI is hovering near the boundary — especially in environments with any multipath. I'd recommend something like a 6-8 dBm margin between your step-down and step-up triggers, and only evaluating every N packets rather than on every RSSI sample.
One thing worth factoring in for the MultiNav specifically — the external PA stages mean the relationship between the radio's TX power register and your actual radiated power isn't purely linear across all levels, so it's worth doing a quick empirical mapping at a few known distances before you trust the loop to behave predictably. The GitHub repo has some of the lower-level radio control examples that'll give you a starting point for the timing and register access.
