MANUAL_CONTROL with joystick and java

ArduCopter
1

Do I need do to anything besides sending MANUAL_CONTROL-Commands to control my drone with joysticks.

I send the values like this and also mapped the x, y, z, r into the range [-1000,1000]
ManualControl cmd= ManualControl.builder().target(MavType.MAV_TYPE_QUADROTOR.ordinal()).x(x).y(y).z(z).r®.build();
MavlinkConnection.send2(111,0, cmd);