Often it is necessary to insert a point on a map into a leg of a plan. For example, to track via a VFR reporting point.
To insert a waypoint using a map, tap and hold on a leg of a plan. A blue ring will appear around your finger. Then drag your finger to the point where the new waypoint is, and life your finger.
The ‘Nearby Items’ window will appear. Tap the blue ‘+’ corresponding to the desired point, or create a user waypoint. This will be inserted into your flight plan.