Automated Visual Route Planning in Plane

For visual cues in flight provided by an onboard companion computer, is it better to use set attitude for alignment, drop waypoints ahead of the aircraft like breadcrumbs, or the dangerous brute force RC override with a feedback controller on the companion?

In simulation I’m using the SET_ATTITUDE message to align to my visual cues. In copter it was much easier due to the ability to achieve fine position control with the SET_POSITION command relative to my frame which doesn’t exist in the plane position controller.

I’m currently using a PX4 connected via uart to companion computer/camera. The goal is to assign a rough location of the object of interest (marker at the beginning of a row of crops) via a waypoint before takeoff. The plane would then fly to and visually center the marker in the field of view, then subsequently follow along the stand.