diff --git a/src/Ryujinx.HLE/HOS/Services/Hid/HidDevices/NpadDevices.cs b/src/Ryujinx.HLE/HOS/Services/Hid/HidDevices/NpadDevices.cs
index b9235b033..8fe9d3e62 100644
--- a/src/Ryujinx.HLE/HOS/Services/Hid/HidDevices/NpadDevices.cs
+++ b/src/Ryujinx.HLE/HOS/Services/Hid/HidDevices/NpadDevices.cs
@@ -56,6 +56,7 @@ namespace Ryujinx.HLE.HOS.Services.Hid
             _activeCount = 0;
 
             JoyHold = NpadJoyHoldType.Vertical;
+            SixAxisActive = false;
         }
 
         internal ref KEvent GetStyleSetUpdateEvent(PlayerIndex player)
@@ -580,6 +581,23 @@ namespace Ryujinx.HLE.HOS.Services.Hid
 
             return needUpdateRight;
         }
+        
+        public bool isAtRest(int playerNumber)
+        {
+            
+            ref NpadInternalState currentNpad = ref _device.Hid.SharedMemory.Npads[playerNumber].InternalState;
+            ref SixAxisSensorState storage = ref GetSixAxisSensorLifo(ref currentNpad, false).GetCurrentEntryRef();
+                
+            float acceleration = Math.Abs(storage.Acceleration.X)
+                                 + Math.Abs(storage.Acceleration.Y)
+                                 + Math.Abs(storage.Acceleration.Z);
+
+            float angularVelocity = Math.Abs(storage.AngularVelocity.X)
+                                    + Math.Abs(storage.AngularVelocity.Y)
+                                    + Math.Abs(storage.AngularVelocity.Z);
+
+            return ((acceleration <= 1.5F) && (angularVelocity <= 1.1F));
+        }
 
         private void UpdateDisconnectedInputSixAxis(PlayerIndex index)
         {
diff --git a/src/Ryujinx.HLE/HOS/Services/Hid/IHidServer.cs b/src/Ryujinx.HLE/HOS/Services/Hid/IHidServer.cs
index 28db75663..a92e1656f 100644
--- a/src/Ryujinx.HLE/HOS/Services/Hid/IHidServer.cs
+++ b/src/Ryujinx.HLE/HOS/Services/Hid/IHidServer.cs
@@ -602,19 +602,52 @@ namespace Ryujinx.HLE.HOS.Services.Hid
         }
 
         [CommandCmif(82)]
-        // IsSixAxisSensorAtRest(nn::hid::SixAxisSensorHandle, nn::applet::AppletResourceUserId) -> bool IsAsRest
+        // IsSixAxisSensorAtRest(nn::hid::SixAxisSensorHandle, nn::applet::AppletResourceUserId) -> bool IsAtRest
         public ResultCode IsSixAxisSensorAtRest(ServiceCtx context)
         {
             int sixAxisSensorHandle = context.RequestData.ReadInt32();
+            
+            // 4 byte struct w/ 4-byte alignment
+            // 0x0 	0x4 	TypeValue
+            // 0x0 	0x1 	NpadStyleIndex
+            // 0x1 	0x1 	PlayerNumber
+            // 0x2 	0x1 	DeviceIdx 
+            
+            // uint typeValue = (uint) sixAxisSensorHandle;
+            // uint npadStyleIndex = (uint) sixAxisSensorHandle & 0xff;
+            int playerNumber = (sixAxisSensorHandle << 8) & 0xff;
+            // uint deviceIdx= ((uint) sixAxisSensorHandle << 16) & 0xff;
+            // uint unknown = ((uint) sixAxisSensorHandle << 24) & 0xff;
+            
+            // 32bit sign extension padding
+            // if = 0, + offset, else - offset
+            // npadStyleIndex = ((npadStyleIndex & 0x8000) == 0) ? npadStyleIndex | 0xFFFF0000 : npadStyleIndex & 0xFFFF0000;
+            // playerNumber = ((playerNumber & 0x8000) == 0) ? playerNumber | 0xFFFF0000 : playerNumber & 0xFFFF0000;
+            // deviceIdx = ((deviceIdx & 0x8000) == 0) ? deviceIdx | 0xFFFF0000 : deviceIdx & 0xFFFF0000;
+            // unknown = ((unknown & 0x8000) == 0) ? unknown | 0xFFFF0000 : unknown & 0xFFFF0000;
+            
             context.RequestData.BaseStream.Position += 4; // Padding
             long appletResourceUserId = context.RequestData.ReadInt64();
 
-            bool isAtRest = true;
-
+            bool isAtRest;
+            
+            // TODO: link to context.Device.Hid.Npads.SixAxisActive when properly implemented
+            // We currently do not support stopping or starting SixAxisTracking.
+            // It is just always tracking, the bool is unused.
+            // See Ryujinx.HLE.HOS.Services.Hid.NpadDevices
+            
+            // common cases: if
+            //     controller is keyboard (keyboards don't have gyroscopes, silly goose!)
+            //     controller has no gyroscope
+            //     SixAxisActive == false
+            //     SixAxisTracking == false
+            // then isAtRest = true
+            // else check gyroscopic activity
+            
+            // check gyroscopic activity
+            isAtRest = context.Device.Hid.Npads.isAtRest(playerNumber);
+            
             context.ResponseData.Write(isAtRest);
-
-            Logger.Stub?.PrintStub(LogClass.ServiceHid, new { appletResourceUserId, sixAxisSensorHandle, isAtRest });
-
             return ResultCode.Success;
         }
 
@@ -629,7 +662,7 @@ namespace Ryujinx.HLE.HOS.Services.Hid
             context.ResponseData.Write(_isFirmwareUpdateAvailableForSixAxisSensor);
 
             Logger.Stub?.PrintStub(LogClass.ServiceHid, new { appletResourceUserId, sixAxisSensorHandle, _isFirmwareUpdateAvailableForSixAxisSensor });
-
+            
             return ResultCode.Success;
         }