diff --git a/y2022/localizer/localizer.cc b/y2022/localizer/localizer.cc
index ea80e73..2b3c72c 100644
--- a/y2022/localizer/localizer.cc
+++ b/y2022/localizer/localizer.cc
@@ -978,6 +978,7 @@
             output_builder.add_x(model_based_.xytheta()(0));
             output_builder.add_y(model_based_.xytheta()(1));
             output_builder.add_theta(model_based_.xytheta()(2));
+            output_builder.add_zeroed(zeroer_.Zeroed());
             const Eigen::Quaterniond &orientation = model_based_.orientation();
             Quaternion quaternion;
             quaternion.mutate_x(orientation.x());