Rotation angle sensor as a physical avoidance with side sticks

Hello dear comunity members, i would like to ask,.Has anyone tried to implement a side sticks for obstacle avoidance/direction following such as this on Naio Jo robot https://youtube.com/shorts/ltJJp_mzOo0?si=0tawc8m28pQYOlWr
I have tried the sensor on pixhawk 1 as an analog sensor and it works. However i dont know how to implement it in a way that would keep the bearing in a combination with RTK GPS and/or rotary encoder navigation. Thanks in advance for responding.