How to take off with delay after land on waypoint

Hello, can someone tell me how to make this behavior of my Vtol: to land for some time on one waypoint (i dont care if it will disarm or not for the time that i want e.g 10 sec.) and after that to take off and continue with mission.
My setup is pixhawk cube orange and ArduPlane V4.3.1

First update to latest Stable. Then use Mission Planners Simulation to test Mission Commands so you are not surprised in an actual flight. But you for sure will need to set the MIS_OPTIONS bit.

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