If you have a waypoint mission all set to go you can set the mission complete to RTH and start the mission with the bird on the ground. Simply switch to "F" mode and click "play/start" mission (right arrow on waypoint). The quad will start motors and take off. Once completed, it will come back and land within a few feet of where it took off. Be careful on auto-takeoff that there is a fair amount of clearance between the bird and any obstructions to the first waypoint. Also, make sure that your RTH height is high enough to clear anything on the mission. That is always the safest way to go.