run time loading and modification of a mission during flight

[omri0912]

i need to switch from manual RC navigation to a mission at a button press during flight. when the button is pressed i need to create/modify a mission.

1. can i modify loadNonVolatileWaypointList() at run time and internally call setWaypoint() of my own overwriting existing mission?
2. does the mission actually starts after loadNonVolatileWaypointList() is complete? or should i do something else?

[omri0912]

another related question - should i look to where NAV_FSM_EVENT_SWITCH_TO_WAYPOINT is returned in order to see where there is run time switch to a mission?