diff --git a/y2020/control_loops/drivetrain/localizer.cc b/y2020/control_loops/drivetrain/localizer.cc
index 4b11f6f..0178790 100644
--- a/y2020/control_loops/drivetrain/localizer.cc
+++ b/y2020/control_loops/drivetrain/localizer.cc
@@ -40,6 +40,11 @@
                              HandleSuperstructureStatus(status);
                            });
 
+  event_loop->OnRun([this, event_loop]() {
+    ekf_.ResetInitialState(event_loop->monotonic_now(), Ekf::State::Zero(),
+                           ekf_.P());
+  });
+
   image_fetchers_.emplace_back(
       event_loop_->MakeFetcher<frc971::vision::sift::ImageMatchResult>(
           "/pi1/camera"));
diff --git a/y2020/control_loops/drivetrain/localizer_test.cc b/y2020/control_loops/drivetrain/localizer_test.cc
index 1e72c39..e81691c 100644
--- a/y2020/control_loops/drivetrain/localizer_test.cc
+++ b/y2020/control_loops/drivetrain/localizer_test.cc
@@ -124,7 +124,6 @@
         drivetrain_plant_(drivetrain_plant_event_loop_.get(), dt_config_),
         last_frame_(monotonic_now()) {
     set_team_id(frc971::control_loops::testing::kTeamNumber);
-    SetStartingPosition({3.0, 2.0, 0.0});
     set_battery_voltage(12.0);
 
     if (!FLAGS_output_file.empty()) {
@@ -167,6 +166,8 @@
         },
         chrono::milliseconds(5));
 
+    test_event_loop_->OnRun([this]() { SetStartingPosition({3.0, 2.0, 0.0}); });
+
     // Run for enough time to allow the gyro/imu zeroing code to run.
     RunFor(std::chrono::seconds(10));
   }