The complexity of controlling the thing made for complex needs at the TX. I love me the FlySky FSi6's, cheap and hackable, but this build took a bit more hacking than others:
Both sticks return to center. Right stick is traditional move/steer. Left stick is pitch and roll for the knuckle mechanism.
Note to self: I really should print little plates for the switches, done that on other builds so I don't forget which does what.
From left to right:
SwA. auto-level on-off.
SwB. yaw (rotate), changed to side-side.
VrA. open-close grabber.
VrB. shift grabber, changed to side-side
SwC. raise/lower arm.
SwD. turns on ALL the lights, for testing or just for laughs.
SwE is the only one I didn't end up using, call that a pretty good maximization of the TX and the custom firmware.
You can't really tell here, but some move side-to-side vs up-down. Also, some were originally pots; dropping in a switch meant also soldering resistors across:
(yes, the yellow and white wires are hanging loose, that's mid-work.)