You can do it at home, you can use the litchi hub (I've never tried that part yet lol) where you use your computer to program the flight, I just do it in app on my tab. Sit around at night while chilling and thinking of where I may want to fly and type of mission open up litchi waypoints and start making the mission with waypoints, poi's, altitudes, speeds, headings, camera options, etc. Once complete I'll start the fine tuning, getting each heading just how I want double checking rotations between wp's clockwise or anti etc you know the little details lol then I'll double, triple, quadruple check each wp, first and last are close to where I plan on physically being etc. Important thing to note when doing a mission like that is if you aren't completely familiar with the area then scout it out prior to flying it, don't rely on the map cuz google maps aren't spot on up to date lol (understatement) so there may be a new obstacle along flight path that isn't in the maps,trees buildings etc. Once happy just save the mission. It can be adjusted at any time I have saved missions from weeks ago I still tweak around and fly again so once saved don't feel its set in stone lol. When ready to fly mission go to site, launch bird, let it hover a good distance up above any nearby obstacles(once mission is launched it will head toward first wp, if your craft is low and first wp is on the other side of an obstacle it will fly towards wp1 and gradually increase altitude ita not like rth that goes straight up to altitude then laterally over, same goes for wp's it adjusts altitude gradually between the two so remember that when planning flight to avoid obstacles) then go into waypoint mode tap upload icon, choose which mission and hit OK, that loads mission to device, then hit the play icon, that'll upload mission to the bird and it'll fly the mission. It's pretty sweet litchi wp rocks compared to go wp lol