SET_POSITION_TARGET_LOCAL_NED (84)

Now,Already receive setMode method and control uav move. However, the steering function is not currently available.
```
public void droneControl(String sn, float x, float y, float h, float w) throws Exception {
isConnection(sn);

setOldUavMode(sn, 1); // change offboard mode

float currentYawRad = 0.0f;
if (w != 0) {
UavDataCacheManager cacheManager = UavDataCacheManager.getInstance();
Map uavDataBySn = cacheManager.getUavDataBySn(sn);
if (ObjectUtil.isNotEmpty(uavDataBySn) && ObjectUtil.isNotEmpty(uavDataBySn.get("yaw"))) {
currentYawRad = (float) uavDataBySn.get("yaw");
}
float deltaYaw = (float) Math.toRadians(-w); // Convert degrees to radians
currentYawRad += deltaYaw;
currentYawRad = (float) ((currentYawRad + Math.PI) % (2 * Math.PI) - Math.PI);
}
MavlinkUav uav = getMavlinkUav(sn);

SetPositionTargetLocalNed message = SetPositionTargetLocalNed.builder()
.targetSystem(uav.getTargetSystem())
.targetComponent(uav.getTargetComponent())
.coordinateFrame(MavFrame.MAV_FRAME_BODY_FRD)
.typeMask(PositionTargetTypemask.POSITION_TARGET_TYPEMASK_VX_IGNORE,
PositionTargetTypemask.POSITION_TARGET_TYPEMASK_VY_IGNORE,
PositionTargetTypemask.POSITION_TARGET_TYPEMASK_VZ_IGNORE,
PositionTargetTypemask.POSITION_TARGET_TYPEMASK_AX_IGNORE,
PositionTargetTypemask.POSITION_TARGET_TYPEMASK_AY_IGNORE,
PositionTargetTypemask.POSITION_TARGET_TYPEMASK_AZ_IGNORE,
PositionTargetTypemask.POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE)
.x(x)
.y(y)
.z(-h)
.vx(0.0f)
.vy(0.0f)
.vz(0.0f)
.afx(0.0f)
.afy(0.0f)
.afz(0.0f)
.yaw(currentYawRad)
.yawRate(0.0f)
.build();

MavlinkConnection connection = uav.getMavlinkConnection();
logger.info("The command sent by the command flight is", message);
connection.send2(
uav.getTargetSystem(),
uav.getTargetComponent(),
message);
}

```
This method can be used to control the movement of the drone, including up, down, left, and right.But it cannot be redirected. The redirection log is as follows

`2025-06-13 16:44:16.373 - [MQTT Call: re62834ba80076e952617679e966aa23b3][] INFO com.yuefei.uav.mavlink.service.MavlinkService -SetPositionTargetLocalNed{timeBootMs=0, targetSystem=6, targetComponent=1, coordinateFrame=EnumValue{value=12, entry=MAV_FRAME_BODY_FRD}, typeMask=EnumValue{value=2552, entry=null}, x=0.0, y=0.0, z=-0.0, vx=0.0, vy=0.0, vz=0.0, afx=0.0, afy=0.0, afz=0.0, yaw=-0.24230176, yawRate=0.0}`

Is there something wrong with the method?

Start with the supplied droneControl method and its SetPositionTargetLocalNed construction, then compare the logged typeMask, coordinateFrame, and yaw with the MAVLink handling for SET_POSITION_TARGET_LOCAL_NED. Reproduce the redirection case and verify that a yaw change is accepted by the target vehicle; done means the vehicle redirects while translation behavior remains intact.

Written by the indexing model from the issue text.