I am trying to command ArduCopter to loiter at a location with a commanded yaw/heading angle. The reason for this, the vehicle does not have a pan gimbled camera (pointing forward), and I want to automatically point at the desired heading while in Auto flight mode. I tried using mavlink_mission_item_t with command MAV_CMD_NAV_LOITER_UNLIM and set param4 to the desired yaw value. I verified the commanded yaw value is correct in the MAVLink message via Wireshark, but the vehicle does not rotate once reaching the loiter waypoint. I have searched online for a solution, but so far, no luck (e.g. MAV_CMD_CONDITION_YAW does not work because the vehicle is at the MAV_CMD_NAV_LOITER_UNLIM mission item). Any suggestions would be appreciated!