No. if you cancel the mission by switching to P mode and then restart, it will start the mission from waypoint 1. You CAN pause the mission from inside the app. When you pause, the Phantom will hover until you resume the mission. While paused, and still in F mode, I don't know if you can control it manually - I've never tried it. Keep in mind that in order to pause and resume, you must be in contact with the bird. If it's out of range and you hit "pause", it won't pause because it won't get the interrupt (pause) command. I know it's a bit silly to mention that last sentence but I've seen many pilots confused about why their Phantom isn't responding to their commands when it's out of range on a Litchi mission.