Use yaw with waypoint

Hi,
I was revisiting the allowed mission commands and while looking at the MAV_CMD_NAV_WAYPOINT’s image, you can see there is a field for yaw, and if you look at the mavlink command description, you can also see there is a field for yaw, while at the mission plannner’s plan section doesn’t have any yaw field when choosing the waypoint command. Is there a way to enable this field or will have to use the mavlink message directly?

Or is it that these fields are just not supported?

Use MAV_CMD_CONDITION_YAW.

https://ardupilot.org/copter/docs/common-mavlink-mission-command-messages-mav_cmd.html

So there is no way of using the yaw field in the waypoint command? Such a shame, if it was enabled, it wouldn’t be necessary to use another command

No. Note the grayed out fields in the link I posted. Those fields are unsupported/ignored.