You either need C++ and python skills for big complicated features.
Or you need lua scripting skills for smaller features (do not need to compile and upload firmware)
Its really quite simple - to test out what i need, i would want to create a mechanic in which i can hold up a drone - thats off - power it on, retract my hands, and it will hover in that spot. Then i would want it to go stay there for 10 seconds (after power on) and go forward 1 meter, and hover, until i grab it again, and power it off.