Action buttons of the joystick in QGC


I was piloting the UAV in a Gazebo world with a PlayStation joystick. I can command it without problems but I cannot do the takeoff if I press VTOL. If I press the mission button the UAV will follow the path planning and I can interact with it pressing the hold button (for example)… but if I try to do manual piloting I lose the control immediately, is there a description of the commands (action buttons) and in ‘manual mode’ which are the buttons of the PS4 joystick that I have to press in order to control the drone properly? is there a guide about how to pilot the UAV with a PS4 joystick?