geometry_msgs/Twist on cmd_vel for PX4 FMU

Dear all,
I would like to use mavros for px4 fmu offboard control.
I can send geometry_msgs/PoseStamped to my fmu, but i have to send geometry_msgs/TwistStamped.
Do you know if it is possible to control attitude via offboard control with the latest version of PX4?

Thanks,
Simone