Auto Mission or Script

I it possible to run a series of commands like an Auto Mission but without the GPS Cordinates. for example fly forward 20m, yaw 26 degress, decend to 10m etc.

I would like to run a this sort of script from a lot of different start points and not have to programme each one.

I wanted to do something similar, and was told it is not possible.
It seems like it would be easy to code for, though, probably a groundstation featureā€¦
It would have to get your GPS position at the new location, then it could calculate the coordinates for 20 meters forward, and all the other distance based waypoints, convert to GPS coordinates, then upload to the copter.