diff --git a/BetterJoyForCemu/App.config b/BetterJoyForCemu/App.config
index 9e6810e..f3a3182 100644
--- a/BetterJoyForCemu/App.config
+++ b/BetterJoyForCemu/App.config
@@ -82,15 +82,25 @@
         <add key="UseIncrementalLights" value="true" />
 
         <!-- Determines whether or not to translate gyro movements into joystick ("joy") or mouse movement ("mouse"), or have no effect ("none") -->
-        <!-- When "joy", turn gyro movements into joystick movement (left/right depends on setting) [not yet implemented]-->
+        <!-- When "joy_left" or "joy_right", turn gyro movements into respective left/right joystick (mouse-like) movements -->
         <!-- When "mouse", turn gyro movements into mouse movement. Press either stick-button to reset to middle of primary display  -->
         <!-- Default: none -->
         <add key="GyroToJoyOrMouse" value="none"/>
+        <!-- Beta value of AHRS. Affects divergence of filter -->
+        <!-- Default: 0.05 -->
+        <add key="AHRS_beta" value="0.05"/>
         <!-- Sensitivity of gyro-to-mouse movements -->
         <!-- Default: 1200; 800 -->
         <add key="GyroMouseSensitivityX" value="1200"/>
         <add key="GyroMouseSensitivityY" value="800"/>
-        <!-- Gyro Hold/Toggle activation -->
+        <!-- Sensitivity of gyro-to-joystick movements -->
+        <!-- Default: 40.0; 10.0 -->
+        <add key="GyroStickSensitivityX" value="40.0"/>
+        <add key="GyroStickSensitivityY" value="10.0"/>
+        <!-- Stick range reduction when gyro-to-joystick is enabled and active; divides range by factor (so 1 is no change; 1.5 is halved range (with deadzone in mind)) -->
+        <!-- Default: 1.5 -->
+        <add key="GyroStickReduction" value="1.5"/>
+        <!-- Gyro Hold/Toggle activation; true will require the mapped button to be continuously held down to keep gyro active -->
         <!-- Default: true [hold], false [toggle] -->
         <add key="GyroHoldToggle" value="true"/>
         <!-- When two joycons are connected, it would take the gyro movement of the right joycon for mouse movement. This swaps that -->
diff --git a/BetterJoyForCemu/Joycon.cs b/BetterJoyForCemu/Joycon.cs
index 3290f02..8a76424 100644
--- a/BetterJoyForCemu/Joycon.cs
+++ b/BetterJoyForCemu/Joycon.cs
@@ -279,7 +279,8 @@ namespace BetterJoyForCemu {
         bool thirdParty = false;
 
         private float[] activeData;
-        private MadgwickAHRS AHRS = new MadgwickAHRS(0.005f, 0.01f); // for getting filtered Euler angles of rotation; 5ms sampling rate
+        static float AHRS_beta = float.Parse(ConfigurationManager.AppSettings["AHRS_beta"]);
+        private MadgwickAHRS AHRS = new MadgwickAHRS(0.005f, AHRS_beta); // for getting filtered Euler angles of rotation; 5ms sampling rate
 
         public Joycon(IntPtr handle_, bool imu, bool localize, float alpha, bool left, string path, string serialNum, int id = 0, bool isPro = false, bool isSnes = false, bool thirdParty = false) {
             serial_number = serialNum;
@@ -688,6 +689,9 @@ namespace BetterJoyForCemu {
         string extraGyroFeature = ConfigurationManager.AppSettings["GyroToJoyOrMouse"];
         int GyroMouseSensitivityX = Int32.Parse(ConfigurationManager.AppSettings["GyroMouseSensitivityX"]);
         int GyroMouseSensitivityY = Int32.Parse(ConfigurationManager.AppSettings["GyroMouseSensitivityY"]);
+        float GyroStickSensitivityX = float.Parse(ConfigurationManager.AppSettings["GyroStickSensitivityX"]);
+        float GyroStickSensitivityY = float.Parse(ConfigurationManager.AppSettings["GyroStickSensitivityY"]);
+        float GyroStickReduction = float.Parse(ConfigurationManager.AppSettings["GyroStickReduction"]);
         bool GyroHoldToggle = Boolean.Parse(ConfigurationManager.AppSettings["GyroHoldToggle"]);
         bool GyroAnalogSliders = Boolean.Parse(ConfigurationManager.AppSettings["GyroAnalogSliders"]);
         int GyroAnalogSensitivity = Int32.Parse(ConfigurationManager.AppSettings["GyroAnalogSensitivity"]);
@@ -787,24 +791,30 @@ namespace BetterJoyForCemu {
                 }
             }
 
-            if (extraGyroFeature == "joy") {
-                // TODO
-            } else if (extraGyroFeature == "mouse" && (isPro || (other == null) || (other != null && (Boolean.Parse(ConfigurationManager.AppSettings["GyroMouseLeftHanded"]) ? isLeft : !isLeft)))) {
-                string res_val = Config.Value("active_gyro");
-
-                if (res_val.StartsWith("joy_")) {
-                    int i = Int32.Parse(res_val.Substring(4));
-                    if (GyroHoldToggle) {
-                        if (buttons_down[i] || (other != null && other.buttons_down[i]))
-                            active_gyro = true;
-                        else if (buttons_up[i] || (other != null && other.buttons_up[i]))
-                            active_gyro = false;
-                    } else {
-                        if (buttons_down[i] || (other != null && other.buttons_down[i]))
-                            active_gyro = !active_gyro;
-                    }
+            string res_val = Config.Value("active_gyro");
+            if (res_val.StartsWith("joy_")) {
+                int i = Int32.Parse(res_val.Substring(4));
+                if (GyroHoldToggle) {
+                    if (buttons_down[i] || (other != null && other.buttons_down[i]))
+                        active_gyro = true;
+                    else if (buttons_up[i] || (other != null && other.buttons_up[i]))
+                        active_gyro = false;
+                } else {
+                    if (buttons_down[i] || (other != null && other.buttons_down[i]))
+                        active_gyro = !active_gyro;
                 }
+            }
 
+            if (extraGyroFeature.Substring(0, 3) == "joy") {
+                if (Config.Value("active_gyro") == "0" || active_gyro) {
+                    float[] control_stick = (extraGyroFeature == "joy_left") ? stick : stick2;
+                    float dx = (GyroStickSensitivityX * (cur_rotation[1] - cur_rotation[4])); // yaw
+                    float dy = -(GyroStickSensitivityY * (cur_rotation[0] - cur_rotation[3])); // pitch
+
+                    control_stick[0] = Math.Max(-1.0f, Math.Min(1.0f, control_stick[0] / GyroStickReduction + dx));
+                    control_stick[1] = Math.Max(-1.0f, Math.Min(1.0f, control_stick[1] / GyroStickReduction + dy));
+                }
+            } else if (extraGyroFeature == "mouse" && (isPro || (other == null) || (other != null && (Boolean.Parse(ConfigurationManager.AppSettings["GyroMouseLeftHanded"]) ? isLeft : !isLeft)))) {
                 // gyro data is in degrees/s
                 if (Config.Value("active_gyro") == "0" || active_gyro) {
                     int dx = (int)(GyroMouseSensitivityX * (cur_rotation[1] - cur_rotation[4])); // yaw