Offset drone heading with DO_SET_ROI


I’m using the DO_SET_ROI command in mission planner and trying to get the drone to orient itself so that its side is pointing towards the ROI and not its nose, i.e a 90 degree offset. I haven’t found any way to change this so far, and it’s not as simple as just adding a single offset, as the angle needs to constantly change as the drone flies.

Any ideas how to do this?


I’d like to do similar to the top image, as opposed to the bottom image (sorry it’s a bit blurry!).