At your last WP Solo will be in Fly (Loiter) mode where you can fly it from there. After creating a mission in Tower and I go to upload it, I generally let Tower add the takeoff/land WPs to the mission, but I rarely use them I take off in manual mode and when I am close to the mission area I will then hit Auto on the screen. After the mission is done, I will let it fly towards home point but then hit my Manual button and either land it or fly around more to use the battery up. If I need to pause during the mission, I will tap the Pause button on the Tower screen, or if I want to cancel and fly it my self I will hit the manual key.