ArduRover v2.45 Waypoints

How to clear waypoints via R/C transmitter?
I am using ArduRover v2.45, APM 2.6.
Waypoints are set by R/C Transmitter switch.

If you go to the Manual Mode you can use the momentary switch on channel 7 (used to record waypoints in the Learning Mode) to erase the waypoints in the present mission by flicking the switch on then off.
TCIII ArduRover2 Developer

How to implement a “guided mode” without a ground station? Eg switch on channel 5 select “wp3” and enable “fly to there” regardless of the place where the machine is now