Copter: Ability to make mission relative to home and original orientation of drone

I explain, Idea is that for repetitive process of aerial imagery like for example have ability to program this:
From home point and drone orientation
Take Off 30 meters
POI at 50 meter forward
Move 50 meter forward
Loiter Turn
Move 50 meters left
Move 50 meters backwards
Move 50 meter right
RTL

Begin by tracing how Mission Planner currently represents home position, vehicle heading, and mission waypoints. Define and verify the relative-coordinate behavior using the example sequence—takeoff, POI, movements, loiter/turn, and RTL; done means that sequence can be programmed relative to home and the drone’s original orientation.

Written by the indexing model from the issue text.