Just in case you missed it in one of my other posts, joystick control is now working via my GCS. I need to write up a "proper" wiki page on how to use it, but here are the basics.
Download my GCS here: http://code.google.com/p/happykillmore-gcs/downloads/list
Edit your APM_Config.h file and add this:
#define ALLOW_RC_OVERRIDE ENABLED
Once you have your APM talking MAVlink to the GCS, click on the Joystick tab at the bottom left. Then select calibrate.
The calibration screen is used to set sub trims, servo reversing and end point adjustment. The first thing I would recommend (as I have not fully worked out the initial settings for this screen) is to select your joystick at the top and then select which mode you want to use (ie Mode 2) which will pull up the defaults for that mode.
Next Click "Enable" which will allow the software to grab the joystick movement.
Now move the joystick axis and confirm that the correct stick movement moves the correct throttle, elevator, aileron and rudder axis. If you do not wish to control an axis via joystick, select "None" under joystick input.
If you have previously used the radio calibration via the CLI then your endpoints should already be set. If not, they can be adjusted along with sub-trim (may be difficult to do on the ground) and you'll NEED to confirm your reverse settings! Next make sure you assign the servos correctly (actually, I'm not sure it can be set differently on the APM)
Throttle = Servo 2
Elevator = Servo 1
Aileron = Servo 0
Rudder = Servo 3
Now you should be able to move your joystick and see servo movement on the APM.
Here are a few things to keep in mind when using joystick control.
1) If the radio output on channel 8 (mode selection) is set to "manual" mode, the joystick will not work. If you've used the GCS to select Manual Mode but your radio mode selection is set to something else, then the joystick will work. It's possible to use the joystick in every mode except hardware manual.
2) Radio control will not work until you unclick the "Enable" button on the joystick tab (or calibration tab). The APM will only listen to one input device at a time. As soon as you select joystick, it will only listen to the joystick until you disable the joystick function.
3) It is possible to run a joystick only calibration using the "Set Endpoints" button on the calibration screen. However, this is not the recommend way to do things as your radio endpoints must be adjusted as well.
4) Running the CLI's radio setup will over-write any end-point or sub-trim values you have set on the calibration screen.
Let me know if you have any problems!
Use at your own risk!