Better controller mapping

Fight me lol

src/surface/flight_control/flight_control/manual_control_node.py

@@ -30,11 +30,11 @@
 # Joystick Directions 1 is up/left -1 is down/right
 # X is forward/backward Y is left/right
 # L2 and R2 1 is not pressed and -1 is pressed
-LJOYY:           int = 0
-LJOYX:           int = 1
+LJOYX:           int = 0
+LJOYY:           int = 1
 L2PRESS_PERCENT: int = 2
-RJOYY:           int = 3
-RJOYX:           int = 4
+RJOYX:           int = 3
+RJOYY:           int = 4
 R2PRESS_PERCENT: int = 5
 DPADHOR:         int = 6
 DPADVERT:        int = 7
@@ -91,12 +91,12 @@ def joystick_to_pixhawk(self, msg: Joy) -> None:
         buttons: MutableSequence[int] = msg.buttons
 
         instruction = PixhawkInstruction(
-            pitch=axes[DPADVERT],  # DPad
+            forward=axes[LJOYY],  # Left Joystick Y
+            lateral=-axes[LJOYX],  # Left Joystick X
+            vertical=(axes[L2PRESS_PERCENT] - axes[R2PRESS_PERCENT]) / 2,  # L2/R2 triggers
             roll=buttons[R1] - buttons[L1],  # L1/R1 buttons
-            vertical=axes[RJOYX],  # Right Joystick Z
-            forward=axes[LJOYX],  # Left Joystick X
-            lateral=-axes[LJOYY],  # Left Joystick Y
-            yaw=(axes[R2PRESS_PERCENT] - axes[L2PRESS_PERCENT]) / 2  # L2/R2 buttons
+            pitch=-axes[DPADVERT],  # DPad
+            yaw=-axes[RJOYX],  # Right Joystick X
         )
 
         # Smooth out adjustments