Joystick or gamepad control - how do I set it up?

I like to control my rover (Pixhawk) using 3DR telemetry with the ground station. Can I use a joystick or gamepad on PC? I like to do it without or in parallel to Radio Controller, how do I set it up?
Can I configure it on the mission planner?
There is a wiki to read?
Thanks for helping.

Itzik … ontroller/

also applies to rovers