ROI Settings

I am trying to understand how to use ROI. For the moment I’ve been trying to test it on SITL with version 1.8 and upstream, but no success yet.

can somebody help me? the only thing I can do is to set the MPC_YAW_MODE, which only has 3 options (towards/away home & towards waypoing) and only works for mission.

Is there also an option where I can set a roi in the map and control the coper with the RC with a fixed yaw towards this point?

thanks in advance