This app was mentioned in 2 comments, with an average of 1.50 upvotes
As far as I can see, you can only do this with addional software that also requires beta firmware. Here's just one app of several that add waypoint functionality to a Phantom 3: https://play.google.com/store/apps/details?id=com.kenargo.djiultimateflight3
If you run Android, this looks like your best bet. No iOS options at the moment, sadly.