Problem on controlling UAV with controller

[TINY-KE]

Thanks for your great work.
Can I ask you one question?
The connection of my controller is correct, and the echo "/joy" topic display normal (as shown in the figure).
But the UAV cannot be controlled by the handle. (The UAV reflect to the right joystick but the move is wrong.)
In addition, the UAV can be controlled by the waypoint in the rviz. （shown in video2)
Thanks a lot.
https://user-images.githubusercontent.com/71861442/172784240-de205dfa-46b1-4d91-970a-65e647f05da7.mp4

waypoint.mp4