Record flight GPS for a flight plan?

Hey, I’m new to the drone world. I have a Iris plus with the pixhawk flight control.

I’m curious if I can manually fly a path, record that path and then have the drone run that same path as a flight plan? I want to have the drone fly around a motocross track in a very specific way, changing angles and direction in a way that would be hard to plan on mission planner.

Is this possible?

You can use the Save Waypoint function to save desired waypints to the FC with the toggle of a switch while flying manually then edit the mission to add the directional commands you need.