diff --git a/frc971/control_loops/control_loops.q b/frc971/control_loops/control_loops.q
index 03e93fd..bebecd0 100644
--- a/frc971/control_loops/control_loops.q
+++ b/frc971/control_loops/control_loops.q
@@ -65,7 +65,7 @@
 };
 
 // The internal state of a zeroing estimator.
-struct AbsoluteEstimatorState {
+struct PotAndAbsoluteEncoderEstimatorState {
   // If true, there has been a fatal error for the estimator.
   bool error;
   // If the joint has seen an index pulse and is zeroed.
diff --git a/frc971/control_loops/profiled_subsystem.q b/frc971/control_loops/profiled_subsystem.q
index 3bcd6c2..d1356da 100644
--- a/frc971/control_loops/profiled_subsystem.q
+++ b/frc971/control_loops/profiled_subsystem.q
@@ -113,7 +113,7 @@
   float feedforwards_power;
 
   // State of the estimator.
-  .frc971.AbsoluteEstimatorState estimator_state;
+  .frc971.PotAndAbsoluteEncoderEstimatorState estimator_state;
 };
 
 struct IndexProfiledJointStatus {