Loiter on waypoints

I’m working with px4 v1.8.2 and I intend to create a mission with some waypoints.
During the execution of the mission I want the drone to stop and loiter in the waypoint until new orders.
Does anyone knows if there are any parameters for this or any function that can help?

You can probably make that work using QGroundControl. You can plan a mission in QGC and while the drone is executing it you can put it into HOLD mode.
After that you can tell the vehicle to continue the mission or you can even upload a new mission. Furthermore you can send reposition commands if you like.
The other option is to use the Dronecode SDK which might take a bit more time to setup but it gives you all the flexibility you need.