Creating waypoints from drone's position

ArduCopter
1

Hello,
Is there a way to fly the drone manually to certain positions, and then go into mission planner’s map and get the gps position from these points?

I know you can connect the drone via telemetry with mission planner and then to go planning mission and you can click in the drone position to create a waypoint, but I want to know if you can request the gps position in that point to create a waypoint

2

RC Input Option 7 is Save WP
I think this is what your asking after.

3

Copter can “learn” a mission in the same way that a Rover can:
https://ardupilot.org/rover/docs/learning-a-mission.html