Real-time mission changes

I’m curious about how to use QGC to do real-time mission changes. E.g., if I see the vehicle getting into trouble going to the next waypoint, how can I quickly make it skip that waypoint? Or point to some location in the map and make it go there instead of the next waypoint? I’m basically looking for something in-between the automatic mission and full manual control.

You can change the active waypoint by selecting another and confirming. Another option is if you switch to Hold mode you can tap on the screen to redirect.