Are you looking for the
dronekit.Vehicle.simple_goto = simple_goto(self, location, airspeed=None, groundspeed=None) unbound dronekit.Vehicle method
Go to a specified global location (:py:class:`LocationGlobal` or :py:class:`LocationGlobalRelative`).
There is no mechanism for notification when the target location is reached, and if another command arrives
before that point that will be executed immediately.
You can optionally set the desired airspeed or groundspeed (this is identical to setting
:py:attr:`airspeed` or :py:attr:`groundspeed`). The vehicle will determine what speed to
use if the values are not set or if they are both set.
The method will change the :py:class:`VehicleMode` to ``GUIDED`` if necessary.
Or are you looking for a mechanism to upload mulitple waypoints (i.e., creating a mission plan)?