Change yaw in Offboard Control mode

Hi everybody, I’m new to drones and autopilots, but by following this example
I was able to build my “offboard control” ROS2 node. By modifying it a little bit, I can set the trajectory setpoints by subscribing to an external ROS2 node that sends me the positions the drone has to reach. Everything works as expected because the drone can reach all the setpoints, but it doesn’t rotate in the direction of the setpoint it has to reach. The attitude control is enabled, and if I make it follow a mission on Qground Control it always points forward to the direction of the next waypoint. So the problem is that when I’m in offboard mode, I would like the drone to turn to the destination it has to reach.

How can I do that?

Any help would be appreciated, thanks in advance :smiley: