I could do it using latitude_deg and longitude_deg from drone.telemetry.position()
Thanks all
async for position_info in drone.telemetry.position():
current_latitude = position_info.latitude_deg
current_longitude = position_info.longitude_deg
break
yaw_angle = math.degrees(math.atan((destination_longitude - current_longitude) / (destination_latitude - current_latitude)))
if destination_latitude < current_latitude:
yaw_angle += 180
