diff --git a/y2022/control_loops/drivetrain/drivetrain_base.cc b/y2022/control_loops/drivetrain/drivetrain_base.cc
index 93233d2..1a76afc 100644
--- a/y2022/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2022/control_loops/drivetrain/drivetrain_base.cc
@@ -10,6 +10,7 @@
 #include "y2022/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
 
 using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+using ::frc971::control_loops::drivetrain::DownEstimatorConfig;
 
 namespace chrono = ::std::chrono;
 
@@ -22,6 +23,8 @@
 const ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.25, 0.75};
 
 const DrivetrainConfig<double> &GetDrivetrainConfig() {
+  // Yaw of the IMU relative to the robot frame.
+  static constexpr double kImuYaw = -M_PI_2 + 0.15;
   static DrivetrainConfig<double> kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
       ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
@@ -53,7 +56,12 @@
       1.2 /* quickturn_wheel_multiplier */,
       1.2 /* wheel_multiplier */,
       true /*pistol_grip_shift_enables_line_follow*/,
-  };
+      (Eigen::Matrix<double, 3, 3>() << std::cos(kImuYaw), -std::sin(kImuYaw),
+       0.0, std::sin(kImuYaw), std::cos(kImuYaw), 0.0, 0.0, 0.0, 1.0)
+          .finished(),
+      false /*is_simulated*/,
+      DownEstimatorConfig{.gravity_threshold = 0.015,
+                          .do_accel_corrections = 1000}};
 
   return kDrivetrainConfig;
 };