diff --git a/y2020/control_loops/drivetrain/drivetrain_base.cc b/y2020/control_loops/drivetrain/drivetrain_base.cc
index 62679bc..b919902 100644
--- a/y2020/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_base.cc
@@ -25,8 +25,8 @@
   static DrivetrainConfig<double> kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
       ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
-      ::frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO,
-      ::frc971::control_loops::drivetrain::IMUType::IMU_FLIPPED_X,
+      ::frc971::control_loops::drivetrain::GyroType::IMU_X_GYRO,
+      ::frc971::control_loops::drivetrain::IMUType::IMU_Z,
 
       drivetrain::MakeDrivetrainLoop,
       drivetrain::MakeVelocityDrivetrainLoop,
@@ -53,8 +53,8 @@
       1.2 /* quickturn_wheel_multiplier */,
       1.2 /* wheel_multiplier */,
       true /*pistol_grip_shift_enables_line_follow*/,
-      (Eigen::Matrix<double, 3, 3>() << 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0,
-       1.0)
+      (Eigen::Matrix<double, 3, 3>() << 0.0, 0.0, 1.0, 0.0, -1.0, 0.0, 1.0, 0.0,
+       0.0)
           .finished() /*imu_transform*/,
   };
 
diff --git a/y2020/control_loops/drivetrain/drivetrain_replay_test.cc b/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
index 3e391c8..6033184 100644
--- a/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
@@ -52,13 +52,19 @@
         reader_.event_loop_factory()->MakeEventLoop("drivetrain", roborio_);
     drivetrain_event_loop_->SkipTimingReport();
 
+    frc971::control_loops::drivetrain::DrivetrainConfig<double> config =
+        GetDrivetrainConfig();
+    // Make the modification required to the imu transform to work with the 2016
+    // logs...
+    config.imu_transform << 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0;
+    config.gyro_type = frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO;
+
     localizer_ =
         std::make_unique<frc971::control_loops::drivetrain::DeadReckonEkf>(
-            drivetrain_event_loop_.get(), GetDrivetrainConfig());
+            drivetrain_event_loop_.get(), config);
     drivetrain_ =
         std::make_unique<frc971::control_loops::drivetrain::DrivetrainLoop>(
-            GetDrivetrainConfig(), drivetrain_event_loop_.get(),
-            localizer_.get());
+            config, drivetrain_event_loop_.get(), localizer_.get());
 
     test_event_loop_ =
         reader_.event_loop_factory()->MakeEventLoop("drivetrain", roborio_);
@@ -88,7 +94,7 @@
   ASSERT_TRUE(status_fetcher_->has_x());
   ASSERT_TRUE(status_fetcher_->has_y());
   ASSERT_TRUE(status_fetcher_->has_theta());
-  EXPECT_LT(std::abs(status_fetcher_->x()), 0.1);
+  EXPECT_LT(std::abs(status_fetcher_->x()), 0.25);
   // Because the encoders should not be affecting the y or yaw axes, expect a
   // reasonably precise result (although, since this is a real worl dtest, the
   // robot probably did actually move be some non-zero amount).
diff --git a/y2020/control_loops/drivetrain/localizer_test.cc b/y2020/control_loops/drivetrain/localizer_test.cc
index c438af5..c47faa7 100644
--- a/y2020/control_loops/drivetrain/localizer_test.cc
+++ b/y2020/control_loops/drivetrain/localizer_test.cc
@@ -92,7 +92,6 @@
 namespace chrono = std::chrono;
 using frc971::control_loops::drivetrain::testing::DrivetrainSimulation;
 using frc971::control_loops::drivetrain::DrivetrainLoop;
-using frc971::control_loops::drivetrain::testing::GetTestDrivetrainConfig;
 using aos::monotonic_clock;
 
 class LocalizedDrivetrainTest : public aos::testing::ControlLoopTest {
@@ -418,6 +417,22 @@
   EXPECT_TRUE(VerifyEstimatorAccurate(5e-4));
 }
 
+// Tests that we can drive in a straight line and have things estimate
+// correctly.
+TEST_F(LocalizedDrivetrainTest, NoCameraUpdateStraightLine) {
+  SetEnabled(true);
+  set_enable_cameras(false);
+  EXPECT_TRUE(VerifyEstimatorAccurate(1e-7));
+
+  SendGoal(1.0, 1.0);
+
+  RunFor(chrono::seconds(1));
+  VerifyNearGoal();
+  // Due to accelerometer drift, the straight-line driving tends to be less
+  // accurate...
+  EXPECT_TRUE(VerifyEstimatorAccurate(0.1));
+}
+
 // Tests that camera updates with a perfect models results in no errors.
 TEST_F(LocalizedDrivetrainTest, PerfectCameraUpdate) {
   SetEnabled(true);