diff --git a/frc971/control_loops/drivetrain/down_estimator_plotter.ts b/frc971/control_loops/drivetrain/down_estimator_plotter.ts
index 7f5bd58..178ab0b 100644
--- a/frc971/control_loops/drivetrain/down_estimator_plotter.ts
+++ b/frc971/control_loops/drivetrain/down_estimator_plotter.ts
@@ -12,10 +12,10 @@
   const aosPlotter = new AosPlotter(conn);
 
   const status = aosPlotter.addMessageSource(
-      '/drivetrain', 'frc971.control_loops.drivetrain.Status');
+      '/localizer', 'frc971.controls.LocalizerStatus');
 
   const imu = aosPlotter.addRawMessageSource(
-      '/drivetrain', 'frc971.IMUValuesBatch',
+      '/localizer', 'frc971.IMUValuesBatch',
       new ImuMessageHandler(conn.getSchema('frc971.IMUValuesBatch')));
 
   const accelPlot = aosPlotter.addPlot(element, [width, height]);
@@ -24,11 +24,11 @@
   accelPlot.plot.getAxisLabels().setYLabel('Acceleration (m/s/s)');
   accelPlot.plot.getAxisLabels().setXLabel('Monotonic Reading Time (sec)');
 
-  const accelX = accelPlot.addMessageLine(status, ['down_estimator', 'accel_x']);
+  const accelX = accelPlot.addMessageLine(status, ['model_based', 'down_estimator', 'accel_x']);
   accelX.setColor(RED);
-  const accelY = accelPlot.addMessageLine(status, ['down_estimator', 'accel_y']);
+  const accelY = accelPlot.addMessageLine(status, ['model_based', 'down_estimator', 'accel_y']);
   accelY.setColor(GREEN);
-  const accelZ = accelPlot.addMessageLine(status, ['down_estimator', 'accel_z']);
+  const accelZ = accelPlot.addMessageLine(status, ['model_based', 'down_estimator', 'accel_z']);
   accelZ.setColor(BLUE);
 
   const velPlot = aosPlotter.addPlot(element, [width, height]);
@@ -36,11 +36,11 @@
   velPlot.plot.getAxisLabels().setYLabel('Velocity (m/s)');
   velPlot.plot.getAxisLabels().setXLabel('Monotonic Reading Time (sec)');
 
-  const velX = velPlot.addMessageLine(status, ['down_estimator', 'velocity_x']);
+  const velX = velPlot.addMessageLine(status, ['model_based', 'down_estimator', 'velocity_x']);
   velX.setColor(RED);
-  const velY = velPlot.addMessageLine(status, ['down_estimator', 'velocity_y']);
+  const velY = velPlot.addMessageLine(status, ['model_based', 'down_estimator', 'velocity_y']);
   velY.setColor(GREEN);
-  const velZ = velPlot.addMessageLine(status, ['down_estimator', 'velocity_z']);
+  const velZ = velPlot.addMessageLine(status, ['model_based', 'down_estimator', 'velocity_z']);
   velZ.setColor(BLUE);
 
   const gravityPlot = aosPlotter.addPlot(element, [width, height]);
@@ -48,7 +48,7 @@
   gravityPlot.plot.getAxisLabels().setXLabel('Monotonic Sent Time (sec)');
   gravityPlot.plot.setDefaultYRange([0.95, 1.05]);
   const gravityLine =
-      gravityPlot.addMessageLine(status, ['down_estimator', 'gravity_magnitude']);
+      gravityPlot.addMessageLine(status, ['model_based', 'down_estimator', 'gravity_magnitude']);
   gravityLine.setColor(RED);
   gravityLine.setDrawLine(false);
   const accelMagnitudeLine =
@@ -63,15 +63,15 @@
   orientationPlot.plot.getAxisLabels().setYLabel('Angle (rad)');
 
   const roll = orientationPlot.addMessageLine(
-      status, ['down_estimator', 'lateral_pitch']);
+      status, ['model_based', 'down_estimator', 'lateral_pitch']);
   roll.setColor(RED);
   roll.setLabel('roll');
   const pitch = orientationPlot.addMessageLine(
-      status, ['down_estimator', 'longitudinal_pitch']);
+      status, ['model_based', 'down_estimator', 'longitudinal_pitch']);
   pitch.setColor(GREEN);
   pitch.setLabel('pitch');
   const yaw = orientationPlot.addMessageLine(
-      status, ['down_estimator', 'yaw']);
+      status, ['model_based', 'down_estimator', 'yaw']);
   yaw.setColor(BLUE);
   yaw.setLabel('yaw');
 
@@ -101,15 +101,15 @@
   imuAccelZFiltered.setPointSize(0);
 
   const expectedAccelX = imuAccelPlot.addMessageLine(
-      status, ['down_estimator', 'expected_accel_x']);
+      status, ['model_based', 'down_estimator', 'expected_accel_x']);
   expectedAccelX.setColor(RED);
   expectedAccelX.setPointSize(0);
   const expectedAccelY = imuAccelPlot.addMessageLine(
-      status, ['down_estimator', 'expected_accel_y']);
+      status, ['model_based', 'down_estimator', 'expected_accel_y']);
   expectedAccelY.setColor(GREEN);
   expectedAccelY.setPointSize(0);
   const expectedAccelZ = imuAccelPlot.addMessageLine(
-      status, ['down_estimator', 'expected_accel_z']);
+      status, ['model_based', 'down_estimator', 'expected_accel_z']);
   expectedAccelZ.setColor(BLUE);
   expectedAccelZ.setPointSize(0);
 
@@ -150,7 +150,7 @@
   zeroedLine.setColor(RED);
   zeroedLine.setDrawLine(false);
   const consecutiveStill =
-      statePlot.addMessageLine(status, ['down_estimator', 'consecutive_still']);
+      statePlot.addMessageLine(status, ['model_based', 'down_estimator', 'consecutive_still']);
   consecutiveStill.setColor(BLUE);
   consecutiveStill.setPointSize(0);
   const faultedLine =
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index b5990c3..9150e8a 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -40,6 +40,15 @@
   IMU_Z = 3,          // Use the z-axis of the IMU.
 };
 
+struct DownEstimatorConfig {
+  // Threshold, in g's, to use for detecting whether we are stopped in the down
+  // estimator.
+  double gravity_threshold = 0.025;
+  // Number of cycles of being still to require before taking accelerometer
+  // corrections.
+  int do_accel_corrections = 50;
+};
+
 template <typename Scalar = double>
 struct DrivetrainConfig {
   // Shifting method we are using.
@@ -107,6 +116,8 @@
   // True if we are running a simulated drivetrain.
   bool is_simulated = false;
 
+  DownEstimatorConfig down_estimator_config{};
+
   // 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) {
diff --git a/frc971/control_loops/drivetrain/improved_down_estimator.cc b/frc971/control_loops/drivetrain/improved_down_estimator.cc
index 2c129f7..449c70d 100644
--- a/frc971/control_loops/drivetrain/improved_down_estimator.cc
+++ b/frc971/control_loops/drivetrain/improved_down_estimator.cc
@@ -88,7 +88,8 @@
 
   // If the only obvious acceleration is that due to gravity, then accept the
   // measurement.
-  const double kUseAccelThreshold = assume_perfect_gravity_ ? 1e-10 : 0.025;
+  const double kUseAccelThreshold =
+      assume_perfect_gravity_ ? 1e-10 : config_.gravity_threshold;
   const double accel_norm = measurement.norm();
   if (std::abs(accel_norm - 1.0) > kUseAccelThreshold) {
     P_ = P_prior;
@@ -99,12 +100,12 @@
   // velocity. Because we just use this for debugging, only set it once per time
   // duration when we are paused--this lets us observe how far things drift
   // while sitting still.
-  if (consecutive_still_ == 1000) {
+  if (consecutive_still_ == 2000) {
     pos_vel_.block<3, 1>(3, 0).setZero();
   }
   // Don't do accelerometer updates unless we have been roughly still for a
   // decent number of iterations.
-  if (++consecutive_still_ < 50) {
+  if (++consecutive_still_ < config_.do_accel_corrections) {
     return;
   }
 
diff --git a/frc971/control_loops/drivetrain/improved_down_estimator.h b/frc971/control_loops/drivetrain/improved_down_estimator.h
index ddbf0bb..b4b0b76 100644
--- a/frc971/control_loops/drivetrain/improved_down_estimator.h
+++ b/frc971/control_loops/drivetrain/improved_down_estimator.h
@@ -57,9 +57,9 @@
   // Measurements to use for correcting the estimated system state. These
   // correspond to (x, y, z) measurements from the accelerometer.
   constexpr static int kNumMeasurements = 3;
-  QuaternionUkf(const Eigen::Matrix<double, 3, 3> &imu_transform =
-                    Eigen::Matrix<double, 3, 3>::Identity())
-      : imu_transform_(imu_transform) {
+  QuaternionUkf(const DrivetrainConfig<double> &dt_config)
+      : imu_transform_(dt_config.imu_transform),
+        config_(dt_config.down_estimator_config) {
     Reset();
   }
 
@@ -193,6 +193,8 @@
   // The transformation from the IMU's frame to the robot frame.
   Eigen::Matrix<double, 3, 3> imu_transform_;
 
+  const DownEstimatorConfig config_;
+
   bool assume_perfect_gravity_ = false;
 };
 
@@ -204,7 +206,7 @@
 class DrivetrainUkf : public QuaternionUkf {
  public:
   DrivetrainUkf(const DrivetrainConfig<double> &dt_config)
-      : QuaternionUkf(dt_config.imu_transform) {}
+      : QuaternionUkf(dt_config) {}
   // UKF for http://kodlab.seas.upenn.edu/uploads/Arun/UKFpaper.pdf
   // Reference in case the link is dead:
   // Kraft, Edgar. "A quaternion-based unscented Kalman filter for orientation
diff --git a/frc971/control_loops/drivetrain/improved_down_estimator_test.cc b/frc971/control_loops/drivetrain/improved_down_estimator_test.cc
index 3312030..af2f3b2 100644
--- a/frc971/control_loops/drivetrain/improved_down_estimator_test.cc
+++ b/frc971/control_loops/drivetrain/improved_down_estimator_test.cc
@@ -119,7 +119,7 @@
   EXPECT_EQ(0.0,
             (Eigen::Vector3d(0.0, 0.0, 1.0) - dtukf.H(dtukf.X_hat().coeffs()))
                 .norm());
-  for (int ii = 0; ii < 200; ++ii) {
+  for (int ii = 0; ii < 2000; ++ii) {
     dtukf.Predict({0.0, 0.0, 0.0}, measurement,
                   frc971::controls::kLoopFrequency);
   }
diff --git a/frc971/wpilib/imu_plotter.ts b/frc971/wpilib/imu_plotter.ts
index 0c735eb..6768e1c 100644
--- a/frc971/wpilib/imu_plotter.ts
+++ b/frc971/wpilib/imu_plotter.ts
@@ -19,7 +19,7 @@
       '/drivetrain', 'frc971.control_loops.drivetrain.Status');
 
   const imu = aosPlotter.addRawMessageSource(
-      '/drivetrain', 'frc971.IMUValuesBatch',
+      '/localizer', 'frc971.IMUValuesBatch',
       new ImuMessageHandler(conn.getSchema('frc971.IMUValuesBatch')));
 
   const accelX = accelPlot.addMessageLine(imu, ['accelerometer_x']);
diff --git a/y2022/control_loops/drivetrain/drivetrain_base.cc b/y2022/control_loops/drivetrain/drivetrain_base.cc
index 93233d2..1a76afc 100644
--- a/y2022/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2022/control_loops/drivetrain/drivetrain_base.cc
@@ -10,6 +10,7 @@
 #include "y2022/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
 
 using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+using ::frc971::control_loops::drivetrain::DownEstimatorConfig;
 
 namespace chrono = ::std::chrono;
 
@@ -22,6 +23,8 @@
 const ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.25, 0.75};
 
 const DrivetrainConfig<double> &GetDrivetrainConfig() {
+  // Yaw of the IMU relative to the robot frame.
+  static constexpr double kImuYaw = -M_PI_2 + 0.15;
   static DrivetrainConfig<double> kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
       ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
@@ -53,7 +56,12 @@
       1.2 /* quickturn_wheel_multiplier */,
       1.2 /* wheel_multiplier */,
       true /*pistol_grip_shift_enables_line_follow*/,
-  };
+      (Eigen::Matrix<double, 3, 3>() << std::cos(kImuYaw), -std::sin(kImuYaw),
+       0.0, std::sin(kImuYaw), std::cos(kImuYaw), 0.0, 0.0, 0.0, 1.0)
+          .finished(),
+      false /*is_simulated*/,
+      DownEstimatorConfig{.gravity_threshold = 0.015,
+                          .do_accel_corrections = 1000}};
 
   return kDrivetrainConfig;
 };