Although I very carefully read and tried to understand the manual, there are many questions left open. Just some first two questions: 1. During a mission (flown in waypoint mode), I can interrupt the flight by switching back to GPS-Atti mode via R/C, so far so good. Once done, is there an easy way to continue the started mission, i.e., to switch back to waypoint mode? 2. Is there a way to manually control yaw (via R/C) while flying a GS-controlled waypoint mission? I don't want to use the keyboard or yet another Joystick, I already have a controller (the R/C) in my hand.