ARDUPILOT can change/create waypoints during the flight??

Hello everyone

Anyone knows if is possible to change/create the waypoints during the flight?

float wayPoints[WP_TOTAL][3] = {
        {-0.000465, -0.000612, 100},    // 1    
        {0.000456, -0.000628, 75},              // 2
        {-0.000453, 0.00055

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