How to rotate the stopped drone on its own axis

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Hello people,

I am doing a project that involves data collection with a drone, and using MAVROS to controll the drone. To do this, I need to do a data collection routine that involves rotating the drone at some point (fixed x, y). I'm having trouble doing this, I'm currently doing small rotations using PoseStamped's Quaternion (orientation) from /mavros/setpoint_position/local, adding small values to it and publishing. In SITL, it went as planned, but in the HITL simulation I had serious problems and the drone began to behave extremely strange, even falling.

Would anyone have a suggestion on how to do this?

Thank you all! :)