as the flight plan is playing out is there a way to gain manual control aside from telling it "go home"? it just kinda worries me if I set the altitude wrong by accident and it's about to hit an obstacle I need to be able to regain control. Also, is there a way for it to automatically take still pics during it's mission or do I have to always go back to the camera screen and take them myself?

S1 to Atti mode then back up and your back on the sticks.