diff --git a/y2017/control_loops/drivetrain/drivetrain_base.cc b/y2017/control_loops/drivetrain/drivetrain_base.cc
index 1e30e08..3367fc1 100644
--- a/y2017/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2017/control_loops/drivetrain/drivetrain_base.cc
@@ -22,7 +22,7 @@
   static DrivetrainConfig kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::NO_SHIFTER,
       ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
-      ::frc971::control_loops::drivetrain::GyroType::IMU_Y_GYRO,
+      ::frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO,
 
       ::y2017::control_loops::drivetrain::MakeDrivetrainLoop,
       ::y2017::control_loops::drivetrain::MakeVelocityDrivetrainLoop,