Heading towards ROI in AUTO.LOITER

I want my drone (not the gimbal) to head towards ROI in AUTO.LOITER mode.
Testing in gazebo9 on multirotor with Firmware v1.10. I send VEHICLE_CMD_DO_SET_ROI_LOCATION with desired ROI point. It works fine in AUTO.MISSION mode, but I can’t find any way to control the UAV heading in AUTO.LOITER. Is there a way to do it?

Is there any way to control where Multi-Copter is heading to during HOLD mode? Where does it suppose to be heading to in this mode?
I can’t find any information regarding these questions. Documentation doesn’t say anything.