diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index b07d75b..8de4dd8 100755
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -769,6 +769,13 @@
       is_ready() && separation_done_with_ball && bottom_done && bottom_velocity_done;
 
   status->zeroed = is_ready();
+  status->zeroed_for_auto =
+      (top_claw_.zeroing_state() == ZeroedStateFeedbackLoop::CALIBRATED ||
+       top_claw_.zeroing_state() ==
+           ZeroedStateFeedbackLoop::DISABLED_CALIBRATION) &&
+      (bottom_claw_.zeroing_state() == ZeroedStateFeedbackLoop::CALIBRATED ||
+       bottom_claw_.zeroing_state() ==
+           ZeroedStateFeedbackLoop::DISABLED_CALIBRATION);
 
   was_enabled_ = ::aos::robot_state->enabled;
 }
diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q
index 3225d2f..116a182 100644
--- a/frc971/control_loops/claw/claw.q
+++ b/frc971/control_loops/claw/claw.q
@@ -52,8 +52,10 @@
   };
 
   message Status {
-    // True if zeroed.
+    // True if zeroed enough for the current period (autonomous or teleop).
     bool zeroed;
+    // True if zeroed as much as we will force during autonomous.
+    bool zeroed_for_auto;
     // True if zeroed and within tolerance for separation and bottom angle.
     bool done;
     // True if zeroed and within tolerance for separation and bottom angle.