Yaw control by Offboard


I am controlling my drone via an offboard computer using velocity commands. Here I have chosen the /mavros/setpoint_velocity/cmd_vel_unstamped topic. Besides thid, I would like to control the yaw / heading of my drone independently from the velocity.
Is this possible?

I could control the yaw value via ‘attitude’-commands, however, the pitch and roll-values will override my velocity control.
Similar, when setting the yaw by local or global positions, this will overwrite my velocity control?

I appreciate your help! Thanks.