I am Looking for a way to get my quad to do the following:

Go to a Way point, Loiter, then perform a Descending Circle around that way point from 10 m to 5 meters in altitude in a 5 meter circle, always pointed at that way point, then loiter go to next way point? are there other parameters to Circle (or what ever it is called in Andropilot) that could help achieve this move? thanks in adavnce