diff --git a/y2020/vision/extrinsics_calibration.cc b/y2020/vision/extrinsics_calibration.cc
index c561652..83d8760 100644
--- a/y2020/vision/extrinsics_calibration.cc
+++ b/y2020/vision/extrinsics_calibration.cc
@@ -40,6 +40,8 @@
     CHECK(aos::configuration::MultiNode(reader.configuration()));
 
     // Find the nodes we care about.
+    const aos::Node *const imu_node =
+        aos::configuration::GetNode(factory.configuration(), "imu");
     const aos::Node *const roborio_node =
         aos::configuration::GetNode(factory.configuration(), "roborio");
 
@@ -49,17 +51,20 @@
     const aos::Node *const pi_node = aos::configuration::GetNode(
         factory.configuration(), absl::StrCat("pi", *pi_number));
 
+    LOG(INFO) << "imu " << aos::FlatbufferToJson(imu_node);
     LOG(INFO) << "roboRIO " << aos::FlatbufferToJson(roborio_node);
     LOG(INFO) << "Pi " << aos::FlatbufferToJson(pi_node);
 
+    std::unique_ptr<aos::EventLoop> imu_event_loop =
+        factory.MakeEventLoop("calibration", imu_node);
     std::unique_ptr<aos::EventLoop> roborio_event_loop =
         factory.MakeEventLoop("calibration", roborio_node);
     std::unique_ptr<aos::EventLoop> pi_event_loop =
         factory.MakeEventLoop("calibration", pi_node);
 
     // Now, hook Calibration up to everything.
-    Calibration extractor(&factory, pi_event_loop.get(),
-                          roborio_event_loop.get(), FLAGS_pi, &data);
+    Calibration extractor(&factory, pi_event_loop.get(), imu_event_loop.get(),
+                          FLAGS_pi, &data);
 
     if (FLAGS_turret) {
       aos::NodeEventLoopFactory *roborio_factory =
@@ -89,25 +94,42 @@
           Eigen::Vector3d(0.0, 0.0, M_PI)));
   const Eigen::Quaternion<double> nominal_pivot_to_camera(
       Eigen::AngleAxisd(-0.5 * M_PI, Eigen::Vector3d::UnitX()));
+  const Eigen::Quaternion<double> nominal_pivot_to_imu(
+      Eigen::AngleAxisd(0.0, Eigen::Vector3d::UnitX()));
   const Eigen::Quaternion<double> nominal_board_to_world(
       Eigen::AngleAxisd(0.5 * M_PI, Eigen::Vector3d::UnitX()));
+  Eigen::Matrix<double, 6, 1> nominal_initial_state =
+      Eigen::Matrix<double, 6, 1>::Zero();
+  // Set y value to -1 m (approx distance from imu to board/world
+  nominal_initial_state(1, 0) = -1.0;
 
   CalibrationParameters calibration_parameters;
   calibration_parameters.initial_orientation = nominal_initial_orientation;
   calibration_parameters.pivot_to_camera = nominal_pivot_to_camera;
+  calibration_parameters.pivot_to_imu = nominal_pivot_to_imu;
   calibration_parameters.board_to_world = nominal_board_to_world;
+  calibration_parameters.initial_state = nominal_initial_state;
+  if (data.turret_samples_size() > 0) {
+    LOG(INFO) << "Have turret, so using pivot setup";
+    calibration_parameters.has_pivot = true;
+  }
 
   Solve(data, &calibration_parameters);
   LOG(INFO) << "Nominal initial_orientation "
             << nominal_initial_orientation.coeffs().transpose();
   LOG(INFO) << "Nominal pivot_to_camera "
             << nominal_pivot_to_camera.coeffs().transpose();
-
-  LOG(INFO) << "pivot_to_camera delta "
+  LOG(INFO) << "Nominal pivot_to_camera (rot-xyz) "
+            << frc971::controls::ToRotationVectorFromQuaternion(
+                   nominal_pivot_to_camera)
+                   .transpose();
+  LOG(INFO) << "pivot_to_camera change "
             << frc971::controls::ToRotationVectorFromQuaternion(
                    calibration_parameters.pivot_to_camera *
                    nominal_pivot_to_camera.inverse())
                    .transpose();
+  LOG(INFO) << "Nominal pivot_to_imu "
+            << nominal_pivot_to_imu.coeffs().transpose();
   LOG(INFO) << "board_to_world delta "
             << frc971::controls::ToRotationVectorFromQuaternion(
                    calibration_parameters.board_to_world *