I know, it’s hard. Your arms want to do that involuntary windmill dance. But flailing really pisses wasps off; they interpret it as a threat, not a greeting.
Instead, freeze. Be a statue. Let the wasp do its reconnaissance flight. It’s probably just confused about how it got in, not plotting your demise.
Remember, a calm human looks boring to a wasp. A screaming, flapping human looks like a piñata full of soda. Don’t be the piñata.