diff --git a/src/input/JoystickInput.cc b/src/input/JoystickInput.cc
index bdfb9b24c195a0dd45913b83de7ad405d02ae919..ef7932b4a43a84295ddda72c98b374a032fa0c71 100644
--- a/src/input/JoystickInput.cc
+++ b/src/input/JoystickInput.cc
@@ -45,9 +45,6 @@ JoystickInput::JoystickInput() :
         calibrationNegative[i] = sdlJoystickMin;
     }
 
-    // Listen for when the active UAS changes so we can change who we're sending data to.
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
-
     // Start this thread. This allows the Joystick Settings window to work correctly even w/o any UASes connected.
     start();
 }
@@ -191,7 +188,15 @@ void JoystickInput::run()
         {
             // First emit the uncalibrated values for each axis based on their ID.
             // This is generally not used for controlling a vehicle, but a UI representation, so it being slightly off is fine.
-            float axisValue = (SDL_JoystickGetAxis(joystick, i) - calibrationNegative[i]) / (calibrationPositive[i] - calibrationNegative[i]);
+            float axisValue = SDL_JoystickGetAxis(joystick, i);
+            if (joystickAxesInverted[i])
+            {
+                axisValue = (axisValue - calibrationNegative[i]) / (calibrationPositive[i] - calibrationNegative[i]);
+            }
+            else
+            {
+                axisValue = (axisValue - calibrationPositive[i]) / (calibrationNegative[i] - calibrationPositive[i]);
+            }
             axisValue = 1.0f - axisValue;
             axisValue = axisValue * 2.0f - 1.0f;
 
@@ -270,11 +275,14 @@ void JoystickInput::setActiveJoystick(int id)
 
         // Update cached joystick values
         joystickAxes.clear();
+        joystickAxesInverted.clear();
         for (int i = 0; i < joystickNumAxes; i++)
         {
             int axisValue = SDL_JoystickGetAxis(joystick, i);
             joystickAxes.append(axisValue);
             emit axisValueChanged(i, axisValue);
+
+            joystickAxesInverted.append(false);
         }
         joystickButtons = 0;
         for (int i = 0; i < joystickNumButtons; i++)
@@ -294,11 +302,57 @@ void JoystickInput::setActiveJoystick(int id)
     }
 }
 
-float JoystickInput::getCurrentValueForAxis(int axisID)
+void JoystickInput::setAxisMapping(int axis, JOYSTICK_INPUT_MAPPING newMapping)
+{
+    switch (newMapping)
+    {
+        case JOYSTICK_INPUT_MAPPING_ROLL:
+            rollAxis = axis;
+            break;
+        case JOYSTICK_INPUT_MAPPING_PITCH:
+            pitchAxis = axis;
+            break;
+        case JOYSTICK_INPUT_MAPPING_YAW:
+            yawAxis = axis;
+            break;
+        case JOYSTICK_INPUT_MAPPING_THROTTLE:
+            throttleAxis = axis;
+            break;
+        case JOYSTICK_INPUT_MAPPING_NONE:
+        default:
+            if (rollAxis == axis)
+            {
+                rollAxis = -1;
+            }
+            if (pitchAxis == axis)
+            {
+                pitchAxis = -1;
+            }
+            if (yawAxis == axis)
+            {
+                yawAxis = -1;
+            }
+            if (throttleAxis == axis)
+            {
+                throttleAxis = -1;
+            }
+            break;
+    }
+}
+
+void JoystickInput::setAxisInversion(int axis, bool inverted)
+{
+    if (axis < joystickAxesInverted.size())
+    {
+        joystickAxesInverted[axis] = inverted;
+    }
+}
+
+float JoystickInput::getCurrentValueForAxis(int axis)
 {
-    if (axisID < joystickAxes.size())
+    if (axis < joystickAxes.size())
     {
-        return joystickAxes[axisID];
+        return joystickAxes[axis];
     }
     return 0.0f;
 }
diff --git a/src/input/JoystickInput.h b/src/input/JoystickInput.h
index 4d048b5e4c94195c33fcad6e82664d4c2dab63a6..f3390650504e035eedbad5d43a05cae76dba6cf1 100644
--- a/src/input/JoystickInput.h
+++ b/src/input/JoystickInput.h
@@ -130,7 +130,7 @@ public:
         return QString(SDL_JoystickName(id));
     }
 
-    float getCurrentValueForAxis(int axisID);
+    float getCurrentValueForAxis(int axis);
 
     const double sdlJoystickMin;
     const double sdlJoystickMax;
@@ -157,6 +157,7 @@ protected:
     int joystickNumButtons;
 
     QList<float> joystickAxes; ///< The values of every axes during the last sample
+    QList<bool> joystickAxesInverted; ///< Whether each axis should be used inverted from what was reported
     quint16 joystickButtons;   ///< The state of every button. Bitfield supporting 16 buttons with 1s indicating that the button is down.
     int xHat, yHat;            ///< The horizontal/vertical hat directions. Values are -1, 0, 1, with (-1,-1) indicating bottom-left.
 
@@ -214,29 +215,23 @@ signals:
     void hatDirectionChanged(int x, int y);
 
 public slots:
+    /** @brief Specify the UAS that this input should forward joystickChanged signals and buttonPresses to. */
     void setActiveUAS(UASInterface* uas);
     /** @brief Switch to a new joystick by ID number. Both buttons and axes are updated with the proper signals emitted. */
     void setActiveJoystick(int id);
-
-    void setMappingRollAxis(int axis)
-    {
-        rollAxis = axis;
-    }
-
-    void setMappingPitchAxis(int axis)
-    {
-        pitchAxis = axis;
-    }
-
-    void setMappingYawAxis(int axis)
-    {
-        yawAxis = axis;
-    }
-
-    void setMappingThrottleAxis(int axis)
-    {
-        throttleAxis = axis;
-    }
+    /**
+     * @brief Change the control mapping for a given joystick axis.
+     * @param axisID The axis to modify (0-indexed)
+     * @param newMapping The mapping to use.
+     * @see JOYSTICK_INPUT_MAPPING
+     */
+    void setAxisMapping(int axis, JOYSTICK_INPUT_MAPPING newMapping);
+    /**
+     * @brief Specify if an axis should be inverted.
+     * @param axis The ID of the axis.
+     * @param inverted True indicates inverted from normal. Varies by controller.
+     */
+    void setAxisInversion(int axis, bool inverted);
 };
 
 #endif // _JOYSTICKINPUT_H_
diff --git a/src/ui/JoystickAxis.cc b/src/ui/JoystickAxis.cc
index ec730e92ca51df3a452adb1edc2184b8b5cd9c4a..a17d63dbbf1fdd6ce2eaee728c6f2af1c637fa34 100644
--- a/src/ui/JoystickAxis.cc
+++ b/src/ui/JoystickAxis.cc
@@ -11,6 +11,7 @@ JoystickAxis::JoystickAxis(int id, QWidget *parent) :
     ui->setupUi(this);
     ui->label->setText(QString::number(id));
     connect(ui->comboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(mappingComboBoxChanged(int)));
+    connect(ui->checkBox, SIGNAL(clicked(bool)), this, SLOT(inversionCheckBoxChanged(bool)));
 }
 
 JoystickAxis::~JoystickAxis()
@@ -27,3 +28,8 @@ void JoystickAxis::mappingComboBoxChanged(int newMapping)
 {
     emit mappingChanged(id, (JoystickInput::JOYSTICK_INPUT_MAPPING)newMapping);
 }
+
+void JoystickAxis::inversionCheckBoxChanged(bool inverted)
+{
+    emit inversionChanged(id, inverted);
+}
diff --git a/src/ui/JoystickAxis.h b/src/ui/JoystickAxis.h
index 25aaa4598912189c8e19439904978f9c3a14b8b4..cfb7dea54ec4ffc80fefdae0c32eea98e2142a2c 100644
--- a/src/ui/JoystickAxis.h
+++ b/src/ui/JoystickAxis.h
@@ -19,6 +19,8 @@ public:
 signals:
     /** @brief Signal a change in this axis' yaw/pitch/roll mapping */
     void mappingChanged(int id, JoystickInput::JOYSTICK_INPUT_MAPPING newMapping);
+    /** @brief Signal a change in this axis' inversion status */
+    void inversionChanged(int id, bool);
 
 public slots:
     /** @brief Update the displayed value of the included progressbar.
@@ -33,6 +35,8 @@ private:
 private slots:
     /** @brief Handle changes to the mapping dropdown bar. */
     void mappingComboBoxChanged(int newMapping);
+    /** @brief Handle changes to the inversion checkbox. */
+    void inversionCheckBoxChanged(bool inverted);
 };
 
 #endif // JOYSTICKAXIS_H
diff --git a/src/ui/JoystickAxis.ui b/src/ui/JoystickAxis.ui
index 0d1fe959efbada999634b9fa5df53d8d51c57a5a..c3cb816572d4dc99e720f6c48f0a80186ee67c4d 100644
--- a/src/ui/JoystickAxis.ui
+++ b/src/ui/JoystickAxis.ui
@@ -6,12 +6,12 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>40</width>
+    <width>80</width>
     <height>200</height>
    </rect>
   </property>
   <property name="sizePolicy">
-   <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+   <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
     <horstretch>0</horstretch>
     <verstretch>0</verstretch>
    </sizepolicy>
@@ -120,6 +120,19 @@
      </property>
     </widget>
    </item>
+   <item>
+    <widget class="QCheckBox" name="checkBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="text">
+      <string>Inverted</string>
+     </property>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>
diff --git a/src/ui/JoystickWidget.cc b/src/ui/JoystickWidget.cc
index 6bd29ad5cc47e301d3762677c5c053f43644549f..0ecb484b9e2b2584fe4bf2a9a7092e0a99c42b03 100644
--- a/src/ui/JoystickWidget.cc
+++ b/src/ui/JoystickWidget.cc
@@ -132,7 +132,8 @@ void JoystickWidget::updateUIForJoystick(int id)
     {
         JoystickAxis* axis = new JoystickAxis(i, m_ui->axesBox);
         axis->setValue(joystick->getCurrentValueForAxis(i));
-        connect(axis, SIGNAL(mappingChanged(int,JoystickInput::JOYSTICK_INPUT_MAPPING)), this, SLOT(setMappingAxis(int,JoystickInput::JOYSTICK_INPUT_MAPPING)));
+        connect(axis, SIGNAL(mappingChanged(int,JoystickInput::JOYSTICK_INPUT_MAPPING)), this->joystick, SLOT(setAxisMapping(int,JoystickInput::JOYSTICK_INPUT_MAPPING)));
+        connect(axis, SIGNAL(inversionChanged(int,bool)), this->joystick, SLOT(setAxisInversion(int,bool)));
         // And make sure we insert BEFORE the vertical spacer.
         m_ui->axesLayout->insertWidget(i, axis);
         axes.append(axis);
@@ -152,28 +153,6 @@ void JoystickWidget::setHat(int x, int y)
     m_ui->statusLabel->setText(tr("Hat position: x: %1, y: %2").arg(x).arg(y));
 }
 
-void JoystickWidget::setMappingAxis(int axisID, JoystickInput::JOYSTICK_INPUT_MAPPING newMapping)
-{
-    switch (newMapping)
-    {
-        case JoystickInput::JOYSTICK_INPUT_MAPPING_ROLL:
-            joystick->setMappingRollAxis(axisID);
-            break;
-        case JoystickInput::JOYSTICK_INPUT_MAPPING_PITCH:
-            joystick->setMappingPitchAxis(axisID);
-            break;
-        case JoystickInput::JOYSTICK_INPUT_MAPPING_YAW:
-            joystick->setMappingYawAxis(axisID);
-            break;
-        case JoystickInput::JOYSTICK_INPUT_MAPPING_THROTTLE:
-            joystick->setMappingThrottleAxis(axisID);
-            break;
-        case JoystickInput::JOYSTICK_INPUT_MAPPING_NONE:
-        default:
-            break;
-    }
-}
-
 void JoystickWidget::joystickButtonPressed(int key)
 {
     QString colorStyle = QString("QLabel { background-color: %1;}").arg(buttonLabelColor.name());
diff --git a/src/ui/JoystickWidget.h b/src/ui/JoystickWidget.h
index de57a0a8409150f385dcca790bc7bf22a74f529d..624ec87f2434fc9218ffbe2e1e30c45c9d700cd2 100644
--- a/src/ui/JoystickWidget.h
+++ b/src/ui/JoystickWidget.h
@@ -55,8 +55,6 @@ public:
 public slots:
     /** @brief Update the UI for a new joystick based on SDL ID. */
     void updateUIForJoystick(int id);
-    /** @brief Change the stored mapping for a given axis. */
-    void setMappingAxis(int axisID, JoystickInput::JOYSTICK_INPUT_MAPPING newMapping);
     /**
      * @brief Update a given axis with a new value
      * @param axis The index of the axis to update.