diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 81f1d8d..242495f 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -579,9 +579,7 @@
 
   // If the filters aren't ready/valid, then disable all outputs (currently,
   // this only happens if the IMU is faulted or has not zeroed).
-  // TODO(james): Add exceptions so that during competitive play the driver
-  // can retain minimal control of the robot.
-  if (!filters_.Ready()) {
+  if (dt_config_.require_imu_for_output && !filters_.Ready()) {
     output_struct.left_voltage = 0.0;
     output_struct.right_voltage = 0.0;
   }
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.fbs b/frc971/control_loops/drivetrain/drivetrain_config.fbs
index 0947063..3d03fb0 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.fbs
+++ b/frc971/control_loops/drivetrain/drivetrain_config.fbs
@@ -148,4 +148,5 @@
   top_button_use:PistolTopButtonUse = kShift (id: 17);
   second_button_use:PistolSecondButtonUse = kShiftLow (id: 18);
   bottom_button_use:PistolBottomButtonUse = kSlowDown (id: 19);
+  require_imu_for_output:bool = true (id: 21);
 }
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index 3f56082..4c35b6a 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -154,6 +154,9 @@
 
   SplineFollowerConfig spline_follower_config{};
 
+  // If set, then the IMU must be zeroed before we will send any outputs.
+  bool require_imu_for_output = true;
+
   // Converts the robot state to a linear distance position, velocity.
   static Eigen::Matrix<Scalar, 2, 1> LeftRightToLinear(
       const Eigen::Matrix<Scalar, 7, 1> &left_right) {
@@ -261,6 +264,7 @@
           ASSIGN(bottom_button_use),
           .spline_follower_config = SplineFollowerConfig::FromFlatbuffer(
               fbs.spline_follower_config()),
+          ASSIGN(require_imu_for_output),
 #undef ASSIGN
     };
   }