Obstacle Avoidance - Continue after manual intervention

I am wondering is there way to continue a mapping run if there is an obstacle avoidance stoppage during the flight. I found a single tree branch that stuck out about 2 feet to far, easy to go around manually, but could not figure out how to pause automode, fly around, and reengage beyond the offending point. I do this all the time with ATC in small planes going around thunderstorms, etc. fly around, then point it on heading/nav and and rengage the autopilot and viola we are good to go. I realize I might miss a shot, but it seems worth it, was nice that it stopped before smacking the branch, but would be great if I didn’t have to edit the flight and refly to get what I needed.