How to control Copter for alternative follow me mode

I am creating an alternative follow me mode using a companion computer on board the Solo. The drone must be able to point the camera and follow the subject.
What do you think is the best way to control the drone from the Companion computer?
I am trying the MAV_CMD_CONDITION_YAW command for yaw but I see I can’t change the rate of turn so I won’t be able to get smooth tracking.
My other option is using the Mavlink command RC_CHANNELS_OVERRIDE to act as if the remote controller was controlling the drone. Is this a better option?
What would you use for smooth control?

Thank you

Did you ever come up w/ a solution?