diff --git a/y2020/control_loops/drivetrain/localizer.cc b/y2020/control_loops/drivetrain/localizer.cc
index 2d31144..937d8c4 100644
--- a/y2020/control_loops/drivetrain/localizer.cc
+++ b/y2020/control_loops/drivetrain/localizer.cc
@@ -333,6 +333,13 @@
     noises *= 1.0 + std::abs((right_velocity() - left_velocity()) /
                                  (2.0 * dt_config_.robot_radius) +
                              (is_turret ? turret_data.velocity : 0.0));
+
+    // Pay less attention to cameras that aren't actually on the turret, since they
+    // are less useful when it comes to actually making shots.
+    if (!is_turret) {
+      noises *= 3.0;
+    }
+
     Eigen::Matrix3f R = Eigen::Matrix3f::Zero();
     R.diagonal() = noises.cwiseAbs2();
     Eigen::Matrix<float, HybridEkf::kNOutputs, HybridEkf::kNStates> H;
diff --git a/y2020/control_loops/drivetrain/localizer_test.cc b/y2020/control_loops/drivetrain/localizer_test.cc
index aac8f75..8ccb55c 100644
--- a/y2020/control_loops/drivetrain/localizer_test.cc
+++ b/y2020/control_loops/drivetrain/localizer_test.cc
@@ -521,7 +521,7 @@
   // Give the filters enough time to converge.
   RunFor(chrono::seconds(10));
   VerifyNearGoal(5e-2);
-  EXPECT_TRUE(VerifyEstimatorAccurate(4e-2));
+  EXPECT_TRUE(VerifyEstimatorAccurate(0.1));
 }
 
 // Tests that we are able to handle a constant, non-zero turret angle.
@@ -592,7 +592,7 @@
 
   RunFor(chrono::seconds(10));
   VerifyNearGoal(5e-3);
-  EXPECT_TRUE(VerifyEstimatorAccurate(1e-2));
+  EXPECT_TRUE(VerifyEstimatorAccurate(5e-2));
 }
 
 // Tests that we don't blow up if we stop getting updates for an extended period