diff --git a/y2024/BUILD b/y2024/BUILD
index 4aec7d2..8c26046 100644
--- a/y2024/BUILD
+++ b/y2024/BUILD
@@ -112,6 +112,7 @@
         "//aos/network:message_bridge_client_fbs",
         "//aos/network:message_bridge_server_fbs",
         "//y2024/constants:constants_fbs",
+        "//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
         "//frc971/can_logger:can_logging_fbs",
         "//aos/network:timestamp_fbs",
         "//aos/network:remote_message_fbs",
@@ -132,6 +133,7 @@
         "//aos/network:remote_message_fbs",
         "//aos/network:message_bridge_client_fbs",
         "//aos/network:message_bridge_server_fbs",
+        "//frc971/wpilib:pdp_values_fbs",
         #y2019 stuff shouldn't be here (e.g. target selector)
         "//y2024/constants:constants_fbs",
         "//aos/network:timestamp_fbs",
diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index bce5451..1a204a0 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -504,9 +504,7 @@
                   drivetrain_can_position_sender.MakeStaticBuilder();
 
           auto drivetrain_falcon_vector =
-              drivetrain_can_builder->add_talonfxs();
-
-          CHECK(drivetrain_falcon_vector->reserve(drivetrain_talonfxs.size()));
+              CHECK_NOTNULL(drivetrain_can_builder->add_talonfxs());
 
           for (auto talonfx : drivetrain_talonfxs) {
             talonfx->SerializePosition(
diff --git a/y2024/y2024_imu.json b/y2024/y2024_imu.json
index f0e7561..7bb7aa8 100644
--- a/y2024/y2024_imu.json
+++ b/y2024/y2024_imu.json
@@ -150,6 +150,36 @@
         }
       ]
     },
+        {
+      "name": "/localizer",
+      "type": "frc971.controls.LocalizerOutput",
+      "source_node": "imu",
+      "frequency": 52,
+      "logger": "LOCAL_AND_REMOTE_LOGGER",
+      "logger_nodes": [
+        "roborio"
+      ],
+      "destination_nodes": [
+        {
+          "name": "roborio",
+          "priority": 5,
+          "time_to_live": 5000000,
+          "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+          "timestamp_logger_nodes": [
+            "imu"
+          ]
+        }
+      ]
+    },
+    {
+      "name": "/imu/aos/remote_timestamps/roborio/localizer/frc971-controls-LocalizerOutput",
+      "type": "aos.message_bridge.RemoteMessage",
+      "source_node": "imu",
+      "logger": "NOT_LOGGED",
+      "frequency": 52,
+      "num_senders": 2,
+      "max_size": 200
+    },
     {
       "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
       "type": "aos.message_bridge.RemoteMessage",
diff --git a/y2024/y2024_roborio.json b/y2024/y2024_roborio.json
index 6af86f0..b78daef 100644
--- a/y2024/y2024_roborio.json
+++ b/y2024/y2024_roborio.json
@@ -19,6 +19,13 @@
     },
     {
       "name": "/roborio/aos",
+      "type": "frc971.PDPValues",
+      "source_node": "roborio",
+      "frequency": 55,
+      "max_size": 368
+    },
+    {
+      "name": "/roborio/aos",
       "type": "aos.RobotState",
       "source_node": "roborio",
       "frequency": 250
@@ -144,7 +151,7 @@
       "source_node": "roborio",
       "frequency": 220,
       "num_senders": 2,
-      "max_size": 400
+      "max_size": 608
     },
     {
       "name": "/superstructure/rio",
@@ -152,7 +159,7 @@
       "source_node": "roborio",
       "frequency": 220,
       "num_senders": 2,
-      "max_size": 400
+      "max_size": 608
     },
     {
       "name": "/can",
@@ -168,7 +175,7 @@
       "source_node": "roborio",
       "frequency": 220,
       "num_senders": 2,
-      "max_size": 400
+      "max_size": 424
     },
     {
       "name": "/drivetrain",
@@ -213,7 +220,7 @@
       "type": "frc971.control_loops.drivetrain.Position",
       "source_node": "roborio",
       "frequency": 400,
-      "max_size": 112,
+      "max_size": 128,
       "num_senders": 2
     },
     {