Setting a desired heading for a loitering copter (drone or heli) using MAVlink?

Is there a way to set a desired heading for a copter (drone or heli) using MAVlink?
Looking at the MAVlink documentation, I am not seeing any obvious way. If I assume that a drone is already at the desired location, having navigated there in Guided mode, what MAVlink command do I need to send it to have the copter spin in place to achieve a desired heading (for example 0 = North, 90 = East)?

OK, I think I found a way, though it’s not perfect. This uses the MAV_CMD_CONDITION_YAW message, which does indeed reorient the copter… but the problem now is that after it’s reoriented, the copter will continue to maintain that heading during all subsequent guided waypoint navigation. So it will no longer point in the direction of the next waypoint, which is super strange.

# Example in Python
MAV.doCommand(MAVLink.MAV_CMD.CONDITION_YAW, heading, 100, 0, 0, 0, 0, 0, False)

I am not sure how to tell it to resume the default heading (pointing towards the next WP). Any ideas?