What I found is that you cannot get to precisely the same point, up/down orientation, and rotation. The problem is not just the precision of the GPS and sensors, but also the fact that the drone is constantly fighting and responding to wind and, as a result, the gimbal is never going to face exactly the same way each time moment. You'll have to do some alignment with all your pictures if you really want them to look like they were taken with a "tripod in the sky" that never moved from one day to the next.
As for setting the waypoints, it is a feature that's tough to find, but is definitely there. You set a waypoint, while in one of the waypoint modes, by pressing the C1 button. No matter what operation you have assigned to that button, once you are in a waypoint mode, it changes to be the "waypoint record" button.
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