How to send waypoints in PX4 code and get the copter to fly to these waypoints

I am trying to get my copter to circle around a target in Follow Me mode. I have calculated the waypoints for the circle. I want the copter to fly to these new waypoints. I tried adding a new method in mission_block.cpp similar to set_follow_target_item and I call this method in my circle code which is in follow_target.cpp. The control does go to mission_block.cpp but the copter just holds it’s position and does not start circling.
For follow mode ‘NAV_CMD_DO_FOLLOW_REPOSITION’ is used. I am not sure which command should I use for circling.

Could someone please help me achieve my task ?