Drone Swarming using NED position

Hello Guys
Recently i’ve been into a project where i am trying to get a swarm of drones control.
Im using rtk gps for precision.
My intent is to get the drone starting point coordinates as 0,0,0 and then run a pre made path for each drone.
However as far as I Search , in offboard mode you can get only define velocity , altitude etc in NED framework…
Is there a way to set Waypoints based on the pixhawk starting position?

Thanks a lot

I’m using MAVSDK for drone communication.

Did you consider using the Mission plugin of MAVSDK if the goal is to run a preplan path ?