diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/OTOSLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/OTOSLocalizer.java
index e4e1f34..2d38fd1 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/OTOSLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/OTOSLocalizer.java
@@ -108,7 +108,13 @@ public class OTOSLocalizer extends Localizer {
      */
     @Override
     public Pose getPose() {
-        return MathFunctions.addPoses(startPose, new Pose(otosPose.x, otosPose.y, otosPose.h));
+        SparkFunOTOS.Pose2D rawPose = otos.getPosition();
+        Pose pose = new Pose(rawPose.x, rawPose.y, rawPose.h);
+
+        Vector vec = pose.getVector();
+        vec.rotateVector(startPose.getHeading());
+
+        return MathFunctions.addPoses(startPose, new Pose(vec.getXComponent(), vec.getYComponent(), pose.getHeading()));
     }
 
     /**
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/PinpointLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/PinpointLocalizer.java
index 151311b..c36a0f7 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/PinpointLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/PinpointLocalizer.java
@@ -96,8 +96,13 @@ public class PinpointLocalizer extends Localizer {
      */
     @Override
     public Pose getPose() {
-        Pose2D pose = odo.getPosition();
-        return new Pose(pose.getX(DistanceUnit.INCH), pose.getY(DistanceUnit.INCH), pose.getHeading(AngleUnit.RADIANS));
+        Pose2D rawPose = odo.getPosition();
+        Pose pose = new Pose(rawPose.getX(DistanceUnit.INCH), rawPose.getY(DistanceUnit.INCH), rawPose.getHeading(AngleUnit.RADIANS));
+
+        Vector vec = pose.getVector();
+        vec.rotateVector(startPose.getHeading());
+
+        return MathFunctions.addPoses(startPose, new Pose(vec.getXComponent(), vec.getYComponent(), pose.getHeading()));
     }
 
     /**