Updating waypoints in Real time

Hi is there a way to update waypoints in real time? I ask because I want to have a GPS on me sending the ardupiolot my location. So it would see it as a moving waypoint, or a series of waypoints. This would enable the copter to follow a target with a GPS signal. I was thinking of using an Xbee to do the transmitting?

 

is it possible or has it been done before?

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