diff --git a/wpilibc/src/main/native/cpp/DriverStation.cpp b/wpilibc/src/main/native/cpp/DriverStation.cpp
index 55bfc510aa..2b06ecf4f3 100644
--- a/wpilibc/src/main/native/cpp/DriverStation.cpp
+++ b/wpilibc/src/main/native/cpp/DriverStation.cpp
@@ -456,11 +456,15 @@ int DriverStation::GetJoystickAxisType(int stick, int axis) {
     FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
     return -1;
   }
+  if (axis < 0 || axis >= HAL_kMaxJoystickAxes) {
+    FRC_ReportError(warn::BadJoystickAxis, "axis {} out of range", axis);
+    return -1;
+  }
 
   HAL_JoystickDescriptor descriptor;
   HAL_GetJoystickDescriptor(stick, &descriptor);
 
-  return static_cast<bool>(descriptor.axisTypes);
+  return descriptor.axisTypes[axis];
 }
 
 bool DriverStation::IsJoystickConnected(int stick) {