diff --git a/frc971/zeroing/imu_zeroer.h b/frc971/zeroing/imu_zeroer.h
index 2662934..b55c6dd 100644
--- a/frc971/zeroing/imu_zeroer.h
+++ b/frc971/zeroing/imu_zeroer.h
@@ -1,6 +1,7 @@
 #ifndef FRC971_ZEROING_IMU_ZEROER_H_
 #define FRC971_ZEROING_IMU_ZEROER_H_
 
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "frc971/wpilib/imu_generated.h"
 #include "frc971/zeroing/averager.h"
 
@@ -15,7 +16,8 @@
   // constant number of samples...
   // TODO(james): Run average and GetRange calculations over every sample on
   // every timestep, to provide consistent timing.
-  static constexpr size_t kSamplesToAverage = 1000.0;
+  static constexpr size_t kSamplesToAverage = 1000;
+  static constexpr size_t kRequiredZeroPoints = 10;
 
   ImuZeroer();
   bool Zeroed() const;
@@ -24,14 +26,22 @@
   Eigen::Vector3d GyroOffset() const;
   Eigen::Vector3d ZeroedGyro() const;
   Eigen::Vector3d ZeroedAccel() const;
+
+  flatbuffers::Offset<control_loops::drivetrain::ImuZeroerState> PopulateStatus(
+      flatbuffers::FlatBufferBuilder *fbb) const;
+
  private:
   // Max variation (difference between the maximum and minimum value) in a
   // kSamplesToAverage range before we allow using the samples for zeroing.
   // These values are currently based on looking at results from the ADIS16448.
-  static constexpr double kGyroMaxVariation = 0.02;     // rad / sec
+  static constexpr double kGyroMaxVariation = 0.02;        // rad / sec
+  // Maximum magnitude we allow the gyro zero to have--this is used to prevent
+  // us from zeroing the gyro if we just happen to be spinning at a very
+  // consistent non-zero rate. Currently this is only plausible in simulation.
+  static constexpr double kGyroMaxZeroingMagnitude = 0.1;  // rad / sec
   // Max variation in the range before we consider the accelerometer readings to
   // be steady.
-  static constexpr double kAccelMaxVariation = 0.02;    // g's
+  static constexpr double kAccelMaxVariation = 0.05;    // g's
   // If we ever are able to rezero and get a zero that is more than
   // kGyroFaultVariation away from the original zeroing, fault.
   static constexpr double kGyroFaultVariation = 0.005;  // rad / sec
@@ -46,12 +56,13 @@
   Averager<double, kSamplesToAverage, 3> accel_averager_;
   // The average zero position of the gyro.
   Eigen::Vector3d gyro_average_;
+  Eigen::Vector3d accel_average_;
   Eigen::Vector3d last_gyro_sample_;
   Eigen::Vector3d last_accel_sample_;
-  // Whether we have currently zeroed yet.
-  bool zeroed_ = false;
   // Whether the zeroing has faulted at any point thus far.
   bool faulted_ = false;
+  size_t good_iters_ = 0;
+  size_t num_zeroes_ = 0;
 };
 
 }  // namespace frc971::zeroing