Relative Position waypoints

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 , attitude e 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.

I would not use the offbard mode and just generate a mission for each drones according to your starting point.

Have a look to the mission doc

Or you also have examples interesting for you like the “Fly Multiple Drones”: