View a mission on the main QGC screen


I pilot a hybrid SUB/BOAT ROV. I cannot use mission planning and I only have GPS when my ROV is at the surface of the water thus any flight mission plan will fail. Furthermore, I use Ardusub and mission planning is not supported yet in this version. Instead of automatic pilot, I would like to navigate from waypoint to waypoint by manually controlling my drone. The absolute best would be to plan a mission in QGC but finding a way to see the tracks and waypoint in the live fly mode screen. Rigth now, one need to plan the mission and upload it in the vehicule to see it in the live screen. I just want to plan it and see it as a guideline during my flight. Any ideas of how to do this in QGC?

thank you