How to switch between FW and MC mode at AUTO mode?

I test my Tilt VTOL on a desk, propellers removed. The tilt servo rotate up and down when I switch between FW and MC at STABILIZE or POSITION mode. But at MISSION or RETURN mode, there is no response to the switch between FW and MC.

I set some way points for a mission using QGC, when I confirm the mission, the drone take off immediately, and then visit the waypoints in turn. I want my drone take off in MC mode, and visit way points in FW mode. Is this posible? how? Can this be done automatic?

I switch to RETURN mode, I want the drone return near to launch in FW mode, and switch to MC mode then land at the position it last take off, Is this posible?