Hello! I would like to know if we could change the waypoint during the flight for eg.: I had predefined the waypoints that my drone would fly, what I want to achieve is that consider it flies from waypoint 0 to 1, when it reaches a particular radius or distance around the waypoint 1 it should automatically change to waypoint 2 and does the same when it reaches waypoint 2 and changes to waypoint 3. Thanks 
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This is the default behavior if you upload multiple waypoints. Unless I’m misunderstanding your question. Have you tried playing around with missions in SITL to get familiar with it?
Sorry for getting back late.
I did play around a little with SITL, the problem is that when I simulate without giving any delay parameter the drone stops at each waypoint and proceeds to the next after sometime. I tried giving an acceptance radius but it still doesn’t seem to work.