Sikorsky had both 3 and 4 axis sidearm controllers in the simulation labs back in the day. I believe the 4 axis controller also flew on Shadow. The 4 axis controller was pretty unwieldy. The 3 axis controller was bad enough but there were a lot of advanced control laws on Comanche. We used an old Comanche sidearm controller on the X2 but used conventional rudder pedals. The twist for yaw feature was not used.