diff --git a/y2019/control_loops/drivetrain/event_loop_localizer.cc b/y2019/control_loops/drivetrain/event_loop_localizer.cc
index dad667f..9403b2e 100644
--- a/y2019/control_loops/drivetrain/event_loop_localizer.cc
+++ b/y2019/control_loops/drivetrain/event_loop_localizer.cc
@@ -33,14 +33,14 @@
       localizer_(dt_config, &robot_pose_) {
   localizer_.ResetInitialState(::aos::monotonic_clock::now(),
                                Localizer::State::Zero(), localizer_.P());
-  ResetPosition(0.5, 3.4, 0.0);
+  ResetPosition(::aos::monotonic_clock::now(), 0.5, 3.4, 0.0);
   frame_fetcher_ = event_loop_->MakeFetcher<CameraFrame>(
       ".y2019.control_loops.drivetrain.camera_frames");
 }
 
-void EventLoopLocalizer::Reset(const Localizer::State &state) {
-  localizer_.ResetInitialState(::aos::monotonic_clock::now(), state,
-                               localizer_.P());
+void EventLoopLocalizer::Reset(::aos::monotonic_clock::time_point now,
+                               const Localizer::State &state) {
+  localizer_.ResetInitialState(now, state, localizer_.P());
 }
 
 void EventLoopLocalizer::Update(
diff --git a/y2019/control_loops/drivetrain/event_loop_localizer.h b/y2019/control_loops/drivetrain/event_loop_localizer.h
index 9207ec1..6d5ca29 100644
--- a/y2019/control_loops/drivetrain/event_loop_localizer.h
+++ b/y2019/control_loops/drivetrain/event_loop_localizer.h
@@ -33,8 +33,10 @@
           &dt_config,
       ::aos::EventLoop *event_loop);
 
-  void Reset(const Localizer::State &state);
-  void ResetPosition(double x, double y, double theta) override {
+  void Reset(::aos::monotonic_clock::time_point t,
+             const Localizer::State &state);
+  void ResetPosition(::aos::monotonic_clock::time_point t, double x, double y,
+                     double theta) override {
     // When we reset the state, we want to keep the encoder positions intact, so
     // we copy from the original state and reset everything else.
     Localizer::State new_state = localizer_.X_hat();
@@ -44,7 +46,11 @@
     // Velocity terms.
     new_state(4, 0) = 0.0;
     new_state(6, 0) = 0.0;
-    Reset(new_state);
+    // Voltage/angular error terms.
+    new_state(7, 0) = 0.0;
+    new_state(8, 0) = 0.0;
+    new_state(9, 0) = 0.0;
+    Reset(t, new_state);
   }
 
   void Update(const ::Eigen::Matrix<double, 2, 1> &U,
@@ -58,14 +64,24 @@
     return localizer_.X_hat(StateIdx::kY); }
   double theta() const override {
     return localizer_.X_hat(StateIdx::kTheta); }
+  double left_encoder() const override {
+    return localizer_.X_hat(StateIdx::kLeftEncoder);
+  }
+  double right_encoder() const override {
+    return localizer_.X_hat(StateIdx::kRightEncoder);
+  }
   double left_velocity() const override {
     return localizer_.X_hat(StateIdx::kLeftVelocity);
   }
   double right_velocity() const override {
     return localizer_.X_hat(StateIdx::kRightVelocity);
   }
-  double left_voltage_error() const override { return 0.0; }
-  double right_voltage_error() const override { return 0.0; }
+  double left_voltage_error() const override {
+    return localizer_.X_hat(StateIdx::kLeftVoltageError);
+  }
+  double right_voltage_error() const override {
+    return localizer_.X_hat(StateIdx::kRightVoltageError);
+  }
 
   TargetSelector *target_selector() override {
     return &target_selector_;
diff --git a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
index f0732a3..b405588 100644
--- a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
+++ b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
@@ -67,10 +67,11 @@
   void SetStartingPosition(const Eigen::Matrix<double, 3, 1> &xytheta) {
     *drivetrain_motor_plant_.mutable_state() << xytheta.x(), xytheta.y(),
         xytheta(2, 0), 0.0, 0.0;
-    Eigen::Matrix<double, 7, 1> localizer_state;
+    Eigen::Matrix<double, EventLoopLocalizer::Localizer::kNStates, 1>
+        localizer_state;
     localizer_state.setZero();
     localizer_state.block<3, 1>(0, 0) = xytheta;
-    localizer_.Reset(localizer_state);
+    localizer_.Reset(monotonic_clock::now(), localizer_state);
   }
 
   void RunIteration() {
@@ -310,7 +311,7 @@
   SetStartingPosition({4, HPSlotLeft().abs_pos().y(), M_PI});
   my_drivetrain_queue_.goal.MakeWithBuilder()
       .controller_type(3)
-      .throttle(0.9)
+      .throttle(0.5)
       .Send();
   RunForTime(chrono::seconds(6));
 
diff --git a/y2019/control_loops/drivetrain/localizer.h b/y2019/control_loops/drivetrain/localizer.h
index b717837..58b6901 100644
--- a/y2019/control_loops/drivetrain/localizer.h
+++ b/y2019/control_loops/drivetrain/localizer.h
@@ -100,7 +100,7 @@
   // The threshold to use for completely rejecting potentially bad target
   // matches.
   // TODO(james): Tune
-  static constexpr Scalar kRejectionScore = 1.0;
+  static constexpr Scalar kRejectionScore = 1000000.0;
 
   // Checks that the targets coming in make some sense--mostly to prevent NaNs
   // or the such from propagating.
@@ -306,6 +306,11 @@
         size_t view_idx = best_frames[ii];
         if (view_idx < 0 || view_idx >= camera_views.size()) {
           LOG(ERROR, "Somehow, the view scorer failed.\n");
+          h_functions->push_back(
+              [](const State &, const Input &) { return Output::Zero(); });
+          dhdx_functions->push_back([](const State &) {
+            return Eigen::Matrix<Scalar, kNOutputs, kNStates>::Zero();
+          });
           continue;
         }
         const Eigen::Matrix<Scalar, kNOutputs, kNStates> best_H =
diff --git a/y2019/control_loops/drivetrain/localizer_test.cc b/y2019/control_loops/drivetrain/localizer_test.cc
index f062234..563c159 100644
--- a/y2019/control_loops/drivetrain/localizer_test.cc
+++ b/y2019/control_loops/drivetrain/localizer_test.cc
@@ -399,7 +399,7 @@
     U(1, 0) = ::std::max(::std::min(U(1, 0), 12.0), -12.0);
 
     state = ::frc971::control_loops::RungeKuttaU(
-        [this](const ::Eigen::Matrix<double, 7, 1> &X,
+        [this](const ::Eigen::Matrix<double, 10, 1> &X,
                const ::Eigen::Matrix<double, 2, 1> &U) { return DiffEq(X, U); },
         state, U,
         ::std::chrono::duration_cast<::std::chrono::duration<double>>(
@@ -418,7 +418,7 @@
                            ::std::pow(state(StateIdx::kRightVelocity, 0), 2)) /
                    3.0);
       TestLocalizer::State disturbance;
-      disturbance << 0.02, 0.02, 0.001, 0.03, 0.02, 0.0, 0.0;
+      disturbance << 0.02, 0.02, 0.001, 0.03, 0.02, 0.0, 0.0, 0.0, 0.0, 0.0;
       disturbance *= disturbance_scale;
       state += disturbance;
     }
@@ -498,9 +498,11 @@
         LocalizerTestParams({
             /*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
             /*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
-            (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+            (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+             0.0, 0.0)
                 .finished(),
-            (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+            (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+             0.0, 0.0)
                 .finished(),
             /*noisify=*/false,
             /*disturb=*/false,
@@ -512,9 +514,11 @@
         LocalizerTestParams({
             /*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
             /*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
-            (TestLocalizer::State() << 0.0, -4.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+            (TestLocalizer::State() << 0.0, -4.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+             0.0, 0.0)
                 .finished(),
-            (TestLocalizer::State() << 0.0, -4.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+            (TestLocalizer::State() << 0.0, -4.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+             0.0, 0.0)
                 .finished(),
             /*noisify=*/false,
             /*disturb=*/false,
@@ -525,22 +529,41 @@
         LocalizerTestParams({
             /*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
             /*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
-            (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+            (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+             0.0, 0.0)
                 .finished(),
-            (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+            (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+             0.0, 0.0)
                 .finished(),
             /*noisify=*/true,
             /*disturb=*/false,
             /*estimate_tolerance=*/0.2,
-            /*goal_tolerance=*/0.2,
+            /*goal_tolerance=*/0.3,
         }),
         // Repeats perfect scenario, but add initial estimator error.
         LocalizerTestParams({
             /*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
             /*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
-            (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+            (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+             0.0, 0.0)
                 .finished(),
-            (TestLocalizer::State() << 0.1, -5.1, -0.01, 0.0, 0.0, 0.0, 0.0)
+            (TestLocalizer::State() << 0.1, -5.1, -0.01, 0.0, 0.0, 0.0, 0.0,
+             0.0, 0.0, 0.0)
+                .finished(),
+            /*noisify=*/false,
+            /*disturb=*/false,
+            /*estimate_tolerance=*/1e-4,
+            /*goal_tolerance=*/2e-2,
+        }),
+        // Repeats perfect scenario, but add voltage + angular errors:
+        LocalizerTestParams({
+            /*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
+            /*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
+            (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0,
+             0.5, 0.02)
+                .finished(),
+            (TestLocalizer::State() << 0.1, -5.1, -0.01, 0.0, 0.0, 0.0, 0.0,
+             0.0, 0.0, 0.0)
                 .finished(),
             /*noisify=*/false,
             /*disturb=*/false,
@@ -551,9 +574,11 @@
         LocalizerTestParams({
             /*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
             /*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
-            (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+            (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+             0.0, 0.0)
                 .finished(),
-            (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+            (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+             0.0, 0.0)
                 .finished(),
             /*noisify=*/false,
             /*disturb=*/true,
@@ -564,14 +589,16 @@
         LocalizerTestParams({
             /*control_pts_x=*/{{0.0, 3.0, 3.0, 0.0, 1.0, 1.0}},
             /*control_pts_y=*/{{-5.0, -5.0, 2.0, 2.0, 2.0, 3.0}},
-            (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+            (TestLocalizer::State() << 0.0, -5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+             0.0, 0.0)
                 .finished(),
-            (TestLocalizer::State() << 0.1, -5.1, 0.03, 0.0, 0.0, 0.0, 0.0)
+            (TestLocalizer::State() << 0.1, -5.1, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0,
+             0.0, 0.0)
                 .finished(),
             /*noisify=*/true,
             /*disturb=*/true,
             /*estimate_tolerance=*/0.15,
-            /*goal_tolerance=*/0.8,
+            /*goal_tolerance=*/0.5,
         }),
         // Try another spline, just in case the one I was using is special for
         // some reason; this path will also go straight up to a target, to
@@ -579,14 +606,16 @@
         LocalizerTestParams({
             /*control_pts_x=*/{{0.5, 3.5, 4.0, 8.0, 11.0, 10.2}},
             /*control_pts_y=*/{{1.0, 1.0, -3.0, -2.0, -3.5, -3.65}},
-            (TestLocalizer::State() << 0.6, 1.01, 0.01, 0.0, 0.0, 0.0, 0.0)
+            (TestLocalizer::State() << 0.6, 1.01, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0,
+             0.0, 0.0)
                 .finished(),
-            (TestLocalizer::State() << 0.5, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+            (TestLocalizer::State() << 0.5, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+             0.0, 0.0)
                 .finished(),
             /*noisify=*/true,
             /*disturb=*/false,
-            /*estimate_tolerance=*/0.15,
-            /*goal_tolerance=*/0.5,
+            /*estimate_tolerance=*/0.25,
+            /*goal_tolerance=*/0.7,
         })));
 
 }  // namespace testing