how is it possible to do multiple hop mission( multiple takeoff and landing) with multicopters in qgroundcontrol mission?
I'm not sure if there is a way to do that. QGC or Firmware or both could get confused. You can always try it and see what happens.
which firmware and with which commands to hold position at landing and again takeoff?
You're own your own there to figure it out. Like I said I'm not sure it's possible.