why are they different on /mavros/setpoint_raw/local and /mavros/setpoint_position/local about handling yaw

[Tfly6]

In /mavros/setpoint_position/local(setpoint_position.cpp)

auto q = [&] () {
	if (mav_frame == MAV_FRAME::BODY_NED || mav_frame == MAV_FRAME::BODY_OFFSET_NED) {
		return ftf::transform_orientation_absolute_frame_aircraft_baselink(Eigen::Quaterniond(tr.rotation()));
	} else {
		return ftf::transform_orientation_enu_ned(
			ftf::transform_orientation_baselink_aircraft(Eigen::Quaterniond(tr.rotation())));
	}
} ();

In /mavros/setpoint_raw/local(setpoint_raw.cpp), the yaw have two transform, ned -> enu, frd -> flu ?

position = ftf::transform_frame_enu_ned(position);
velocity = ftf::transform_frame_enu_ned(velocity);
af = ftf::transform_frame_enu_ned(af);
yaw = ftf::quaternion_get_yaw(
		ftf::transform_orientation_aircraft_baselink(
			ftf::transform_orientation_ned_enu(
				ftf::quaternion_from_rpy(0.0, 0.0, req->yaw))));