Merge remote-tracking branch 'origin/master' into glass-cockpit

context/pod-hardware.md

@@ -47,7 +47,16 @@ Axes: Throttle (lever, rate-walks + sticks), LeftPedal/RightPedal/Pedals (turn,
 JoystickX (torso twist), **JoystickY (torso ELEVATION — pitch aim; every 1995 control mode
 routes it to Torso::SetAnalogElevationAxis; keys R/F + pad LeftStickY in the default map;
 verified to the authentic VerticalLimitTop clamp, 20° on the Blackhawk; aims the GUNS — reads
-on the HUD elevation tape, the eyepoint stays level)**. Emissions mirror the RIO conventions above exactly; the four fire
+on the HUD elevation tape, the eyepoint stays level)**.
+**AXIS SIGN CONVENTION (2026-07-18, user-verified) [T1]:** the sim uses MATH convention —
+positive turnDemand / twist / free-aim slew is **CCW (LEFT)**. On the pod the RIO Ranger owned
+the hardware sign; the desktop key bridge negates ONCE per channel (`key_turn = -gBTDrive.turn`;
+`stickPosition.x = -gBTTwistAxis`; the SetFreeAimSlew call-sites pass the bridge value un-negated)
+so input-right = turn/twist RIGHT (manual p8: "pulling your joystick to the right torso twists
+your 'Mech to the right"). Forced/BT_GOTO harness demands are already sim-frame and stay
+un-negated. Lesson: large-rotation screenshot comparisons are AMBIGUOUS — trust tracked
+landmarks, numeric yaw telemetry with an established convention, or the user's live observation.
+Emissions mirror the RIO conventions above exactly; the four fire
 buttons (0x40/45/46/47) publish as levels to the bring-up fire channels instead of buttonGroup
 (avoids double-fire once the streamed ChooseButton mappings are exercised). XInput loads
 dynamically (xinput1_4 → 9_1_0; disconnected-pad probing rate-limited to 1 Hz). **Keys claimed by