This can probably be achieved using waypoint flying with the Copter Mission Command List.
You can take a look at Do-Gripper and Do-Winch to see if they simplify things.
Separately, waypoint flying from a companion computer is also possible. This project begins with the PX4 Flight stack, improving to support the Ardupilot flight stack. I had done a simple test and it works with Ardupilot. Some users feedback that they still facing compatibility with Ardupilot.
They have some examples like goto.py, gripper.py, mission_import.py, etc. API documentation.
I do not recommend Dronekit because it is no longer in maintenance, does not support multiple serial connections, and stops at Python 2.X.