The P4P, as with any aircraft, will fly wherever you tell it to fly.
The ability to draw and fly simple concave shapes are not really the issue. The question really is where do you draw the line for automated planning. Convex can get REALLY complex.
For output model accuracy reasons, we think the ability to rotate the primary flight direction orthogonal to the prevailing wind direction is important. We are looking at ways of doing it while maintaining this ability.
If you don't care about accuracy and don't care about flying across the wind, our Linear Mission planner can be used to create all sorts of complex (concave) shapes.