Put the Pan Mode switch in the Forward (up) position. Position the aircraft over your target and press the Center soft key. Now use the right stick and back away from your target to the radius of your orbit and press the Start soft key. When you tap right or left to start the orbit the aircraft should stay focused on the target.
The left stick up/down controls altitude, right stick up/down controls the size of the orbit, and right stick left/right controls direction and speed of orbit. Taps in the same direction as orbit increase the speed and taps in the opposite direction slow the speed and can reverse the direction if you go past the starting point.
The Pause/Play soft key will halt/resume the mission and the Exit soft key will take you out of POI.