Drone movement in NED start basis


I’d like to know how to make the drone move right, left, front and back relatively to itself using the estimated attitude quaternion of the drone in NED_start basis. Is it possible to set velocities along these axes : Glossary - 7.2 ? Do I have to use the yaw offset provided in telemetry ?
I’ve made things work in NED basis but I’d like to make it work in NED_start basis to avoid yaw jumps.

Any help would be much appreciated !