Changing the path of Quadcopter from QgroundControl

I’m hey y’all, I’m trying to change the path set by qgroundcontrol to make it possible to do mission other than the simple mission that qgroundcontrol allows. For example if I wanted to make my quand Copter circle around ? I thought I could go to Px4 repository and modify the position control code there but I realized that it was just outputs, and I needed to modify the inputs ( position setpoints, yaw etc) that come from qgroundcontrol.

I’m just starting in all of this I would really appreciate help. Thanks