In-flight manipulation of waypoints

Hi,
I am using the Mission Planner(GCS) and Pixhawk board(Ardupilot) for running the Quad Copter. Now,I want to add the In-flight manipulation of waypoints to the above system.

Please guide me how to start doing this task?.

You’ll need wireless telemetry. A compatible option for your pixhawk is the 3DR telemetry modules.