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The controls for Panzer Dragoon Saga fall into three types.

Walking

Input Action
Neutral dpad Walk
A button, C button Activate Scanner, Interact
B button Run
Start button Menu

Dragon

Input Action
Up dpad, Down dpad Change altitude
Left dpad, Right dpad Turn
A button, C button Activate Scanner, Interact
B button Fly forwards
Y button Open Map
Start button Open menu

Battle

Input Action Notes
Neutral dpad Move, select target
A button Gun (quick-select) Attack a single enemy target
B button Dragon attack (quick select) Simultaneously attack all enemy targets
C button Commands menu