How to use takeoff/go-to MAV commands without GPS?

Hi All,

I have intel Aero drone and I want to control the drone and make specific movements depending on camera connected to drone. I want ,for example; to tell the drone to go up for specific heigh and go ahead for one meter and land again.

Could you please provide me with commands/parameters to do that? I tried something similar to
mav.mav.command_long_send(mav.target_system, mav.target_component,
mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0,
0, 1, 0, 0, 0, 3)

The drone kept going in horizontal line and go away and I was terrified until I dropped it down because it was going to 0,0 location and I do not want to use GPS.

Thank you.