Mavlink - Yaw on the ground

I have a custom landing gear on my quad and I’m trying to yaw while on the ground via Mavlink commands sent from off board.

Is this possible without requiring a minimum altitude? It seems to obey yaw commands in Guided mode only when it is in the air.

Unsure if relevant, but I also have a lidar rangefinder on board.

Thank you!

Any direction or suggestions on where to look in the code for this?

I saw something that looked promising, but it was for “guided limit” mode lol. Feels like there are safety guards somewhere I can disable.