diff --git a/y2020/control_loops/drivetrain/BUILD b/y2020/control_loops/drivetrain/BUILD
index de669d6..03d2dc2 100644
--- a/y2020/control_loops/drivetrain/BUILD
+++ b/y2020/control_loops/drivetrain/BUILD
@@ -92,6 +92,7 @@
     visibility = ["//visibility:public"],
     deps = [
         ":drivetrain_base",
+        ":localizer",
         "//aos:init",
         "//aos/events:shm_event_loop",
         "//frc971/control_loops/drivetrain:drivetrain_lib",
@@ -152,6 +153,7 @@
     data = ["//y2020:config.json"],
     deps = [
         ":drivetrain_base",
+        ":localizer",
         "//aos:configuration",
         "//aos:init",
         "//aos/events:shm_event_loop",
diff --git a/y2020/control_loops/drivetrain/drivetrain_main.cc b/y2020/control_loops/drivetrain/drivetrain_main.cc
index 04bd107..7159118 100644
--- a/y2020/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_main.cc
@@ -2,6 +2,7 @@
 #include "aos/init.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "y2020/control_loops/drivetrain/drivetrain_base.h"
+#include "y2020/control_loops/drivetrain/localizer.h"
 
 using ::frc971::control_loops::drivetrain::DrivetrainLoop;
 
@@ -12,7 +13,7 @@
       aos::configuration::ReadConfig("config.json");
 
   ::aos::ShmEventLoop event_loop(&config.message());
-  ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
+  ::y2020::control_loops::drivetrain::Localizer localizer(
       &event_loop, ::y2020::control_loops::drivetrain::GetDrivetrainConfig());
   DrivetrainLoop drivetrain(
       ::y2020::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
diff --git a/y2020/control_loops/drivetrain/drivetrain_replay.cc b/y2020/control_loops/drivetrain/drivetrain_replay.cc
index c7d81c2..af6a841 100644
--- a/y2020/control_loops/drivetrain/drivetrain_replay.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_replay.cc
@@ -13,6 +13,7 @@
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "gflags/gflags.h"
 #include "y2020/control_loops/drivetrain/drivetrain_base.h"
+#include "y2020/control_loops/drivetrain/localizer.h"
 
 DEFINE_string(logfile, "/tmp/logfile.bfbs",
               "Name of the logfile to read from.");
@@ -51,7 +52,7 @@
       reader.event_loop_factory()->MakeEventLoop("drivetrain");
   drivetrain_event_loop->SkipTimingReport();
 
-  frc971::control_loops::drivetrain::DeadReckonEkf localizer(
+  y2020::control_loops::drivetrain::Localizer localizer(
       drivetrain_event_loop.get(),
       y2020::control_loops::drivetrain::GetDrivetrainConfig());
   frc971::control_loops::drivetrain::DrivetrainLoop drivetrain(