Custom Structure Scan Feature

Hello There,

I am trying to create a python script that generates a *.plan file based on a given (Lat, Long) point. My goal is to have the generated *.plan file contain instructions to fly to the goal location, and then perform a structure scan at that location, after which the drone will return home. Does anyone know of any existing software that does this? (outside of the UI of QGroundControl). Any advice or starting points for implementing something new to do this? Or particular files to look at in the project GitHub repository? Any help would be greatly appreciated.