diff --git a/y2020/control_loops/drivetrain/localizer.cc b/y2020/control_loops/drivetrain/localizer.cc
index 7d7c83f..79035df 100644
--- a/y2020/control_loops/drivetrain/localizer.cc
+++ b/y2020/control_loops/drivetrain/localizer.cc
@@ -95,6 +95,16 @@
   target_selector_.set_has_target(false);
 }
 
+void Localizer::Reset(
+    aos::monotonic_clock::time_point t,
+    const frc971::control_loops::drivetrain::HybridEkf<double>::State &state) {
+  // Go through and clear out all of the fetchers so that we don't get behind.
+  for (auto &fetcher : image_fetchers_) {
+    fetcher.Fetch();
+  }
+  ekf_.ResetInitialState(t, state.cast<float>(), ekf_.P());
+}
+
 void Localizer::HandleSuperstructureStatus(
     const y2020::control_loops::superstructure::Status &status) {
   CHECK(status.has_turret());
@@ -162,7 +172,10 @@
     LOG(WARNING) << "Got camera frame from the future.";
     return;
   }
-  CHECK(result.has_camera_calibration());
+  if (!result.has_camera_calibration()) {
+    LOG(WARNING) << "Got camera frame without calibration data.";
+    return;
+  }
   // Per the ImageMatchResult specification, we can actually determine whether
   // the camera is the turret camera just from the presence of the
   // turret_extrinsics member.
diff --git a/y2020/control_loops/drivetrain/localizer.h b/y2020/control_loops/drivetrain/localizer.h
index 341f304..5dbad02 100644
--- a/y2020/control_loops/drivetrain/localizer.h
+++ b/y2020/control_loops/drivetrain/localizer.h
@@ -51,9 +51,9 @@
               double right_encoder, double gyro_rate,
               const Eigen::Vector3d &accel) override;
 
-  void Reset(aos::monotonic_clock::time_point t, const State &state) {
-    ekf_.ResetInitialState(t, state, ekf_.P());
-  }
+  void Reset(aos::monotonic_clock::time_point t,
+             const frc971::control_loops::drivetrain::HybridEkf<double>::State
+                 &state) override;
 
   void ResetPosition(aos::monotonic_clock::time_point t, double x, double y,
                      double theta, double /*theta_override*/,
diff --git a/y2020/control_loops/drivetrain/localizer_test.cc b/y2020/control_loops/drivetrain/localizer_test.cc
index dbb4f2f..da3ef17 100644
--- a/y2020/control_loops/drivetrain/localizer_test.cc
+++ b/y2020/control_loops/drivetrain/localizer_test.cc
@@ -206,9 +206,9 @@
   void SetStartingPosition(const Eigen::Matrix<double, 3, 1> &xytheta) {
     *drivetrain_plant_.mutable_state() << xytheta.x(), xytheta.y(),
         xytheta(2, 0), 0.0, 0.0;
-    Eigen::Matrix<float, Localizer::HybridEkf::kNStates, 1> localizer_state;
+    Eigen::Matrix<double, Localizer::HybridEkf::kNStates, 1> localizer_state;
     localizer_state.setZero();
-    localizer_state.block<3, 1>(0, 0) = xytheta.cast<float>();
+    localizer_state.block<3, 1>(0, 0) = xytheta;
     localizer_.Reset(monotonic_now(), localizer_state);
   }
 
@@ -547,6 +547,33 @@
   EXPECT_TRUE(VerifyEstimatorAccurate(1e-2));
 }
 
+// Tests that we don't blow up if we stop getting updates for an extended period
+// of time and fall behind on fetching fron the cameras.
+TEST_F(LocalizedDrivetrainTest, FetchersHandleTimeGap) {
+  set_enable_cameras(true);
+  set_send_delay(std::chrono::seconds(0));
+  event_loop_factory()->set_network_delay(std::chrono::nanoseconds(1));
+  test_event_loop_
+      ->AddTimer([this]() { drivetrain_plant_.set_send_messages(false); })
+      ->Setup(test_event_loop_->monotonic_now());
+  test_event_loop_->AddPhasedLoop(
+      [this](int) {
+        auto builder = camera_sender_.MakeBuilder();
+        ImageMatchResultT image;
+        ASSERT_TRUE(
+            builder.Send(ImageMatchResult::Pack(*builder.fbb(), &image)));
+      },
+      std::chrono::milliseconds(20));
+  test_event_loop_
+      ->AddTimer([this]() {
+        drivetrain_plant_.set_send_messages(true);
+        SimulateSensorReset();
+      })
+      ->Setup(test_event_loop_->monotonic_now() + std::chrono::seconds(10));
+
+  RunFor(chrono::seconds(20));
+}
+
 }  // namespace testing
 }  // namespace drivetrain
 }  // namespace control_loops