diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle
index afb8482..b0c4a83 100644
--- a/TeamCode/build.gradle
+++ b/TeamCode/build.gradle
@@ -33,6 +33,6 @@ dependencies {
     implementation project(':FtcRobotController')
     annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
 
-    implementation "com.acmerobotics.roadrunner:ftc:0.1.12"
+    implementation "com.acmerobotics.roadrunner:ftc:0.1.13"
     implementation "com.acmerobotics.dashboard:dashboard:0.4.14"
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
index d3a8f1b..26576a9 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java
@@ -39,9 +39,10 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.VoltageSensor;
 
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
 import org.firstinspires.ftc.teamcode.messages.DriveCommandMessage;
 import org.firstinspires.ftc.teamcode.messages.MecanumCommandMessage;
-import org.firstinspires.ftc.teamcode.messages.MecanumEncodersMessage;
+import org.firstinspires.ftc.teamcode.messages.MecanumLocalizerInputsMessage;
 import org.firstinspires.ftc.teamcode.messages.PoseMessage;
 
 import java.lang.Math;
@@ -125,6 +126,7 @@ public final class MecanumDrive {
 
         private int lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
         private Rotation2d lastHeading;
+        private boolean initialized;
 
         public DriveLocalizer() {
             leftFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftFront));
@@ -134,13 +136,6 @@ public final class MecanumDrive {
 
             // TODO: reverse encoders if needed
             //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-
-            lastLeftFrontPos = leftFront.getPositionAndVelocity().position;
-            lastLeftBackPos = leftBack.getPositionAndVelocity().position;
-            lastRightBackPos = rightBack.getPositionAndVelocity().position;
-            lastRightFrontPos = rightFront.getPositionAndVelocity().position;
-
-            lastHeading = Rotation2d.exp(imu.get().getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
         }
 
         @Override
@@ -150,12 +145,30 @@ public final class MecanumDrive {
             PositionVelocityPair rightBackPosVel = rightBack.getPositionAndVelocity();
             PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
 
-            FlightRecorder.write("MECANUM_ENCODERS", new MecanumEncodersMessage(
-                    leftFrontPosVel, leftBackPosVel, rightBackPosVel, rightFrontPosVel));
+            YawPitchRollAngles angles = imu.get().getRobotYawPitchRollAngles();
+
+            FlightRecorder.write("MECANUM_LOCALIZER_INPUTS", new MecanumLocalizerInputsMessage(
+                    leftFrontPosVel, leftBackPosVel, rightBackPosVel, rightFrontPosVel, angles));
+
+            Rotation2d heading = Rotation2d.exp(angles.getYaw(AngleUnit.RADIANS));
+
+            if (!initialized) {
+                initialized = true;
+
+                lastLeftFrontPos = leftFrontPosVel.position;
+                lastLeftBackPos = leftBackPosVel.position;
+                lastRightBackPos = rightBackPosVel.position;
+                lastRightFrontPos = rightFrontPosVel.position;
+
+                lastHeading = heading;
+
+                return new Twist2dDual<>(
+                        Vector2dDual.constant(new Vector2d(0.0, 0.0), 2),
+                        DualNum.constant(0.0, 2)
+                );
+            }
 
-            Rotation2d heading = Rotation2d.exp(imu.get().getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
             double headingDelta = heading.minus(lastHeading);
-
             Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>(
                     new DualNum<Time>(new double[]{
                             (leftFrontPosVel.position - lastLeftFrontPos),
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
index 9cc112f..6ed5e3f 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TankDrive.java
@@ -48,7 +48,7 @@ import com.qualcomm.robotcore.hardware.VoltageSensor;
 import org.firstinspires.ftc.teamcode.messages.DriveCommandMessage;
 import org.firstinspires.ftc.teamcode.messages.PoseMessage;
 import org.firstinspires.ftc.teamcode.messages.TankCommandMessage;
-import org.firstinspires.ftc.teamcode.messages.TankEncodersMessage;
+import org.firstinspires.ftc.teamcode.messages.TankLocalizerInputsMessage;
 
 import java.util.ArrayList;
 import java.util.Arrays;
@@ -129,6 +129,7 @@ public final class TankDrive {
         public final List<Encoder> leftEncs, rightEncs;
 
         private double lastLeftPos, lastRightPos;
+        private boolean initialized;
 
         public DriveLocalizer() {
             {
@@ -151,16 +152,6 @@ public final class TankDrive {
 
             // TODO: reverse encoder directions if needed
             //   leftEncs.get(0).setDirection(DcMotorSimple.Direction.REVERSE);
-
-            for (Encoder e : leftEncs) {
-                lastLeftPos += e.getPositionAndVelocity().position;
-            }
-            lastLeftPos /= leftEncs.size();
-
-            for (Encoder e : rightEncs) {
-                lastRightPos += e.getPositionAndVelocity().position;
-            }
-            lastRightPos /= rightEncs.size();
         }
 
         @Override
@@ -186,8 +177,20 @@ public final class TankDrive {
             meanRightPos /= rightEncs.size();
             meanRightVel /= rightEncs.size();
 
-            FlightRecorder.write("TANK_ENCODERS",
-                    new TankEncodersMessage(leftReadings, rightReadings));
+            FlightRecorder.write("TANK_LOCALIZER_INPUTS",
+                     new TankLocalizerInputsMessage(leftReadings, rightReadings));
+
+            if (!initialized) {
+                initialized = true;
+
+                lastLeftPos = meanLeftPos;
+                lastRightPos = meanRightPos;
+
+                return new Twist2dDual<>(
+                        Vector2dDual.constant(new Vector2d(0.0, 0.0), 2),
+                        DualNum.constant(0.0, 2)
+                );
+            }
 
             TankKinematics.WheelIncrements<Time> twist = new TankKinematics.WheelIncrements<>(
                     new DualNum<Time>(new double[] {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
index b68efcc..d4aaf45 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
@@ -4,6 +4,7 @@ import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.roadrunner.DualNum;
 import com.acmerobotics.roadrunner.Time;
 import com.acmerobotics.roadrunner.Twist2dDual;
+import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.Vector2dDual;
 import com.acmerobotics.roadrunner.ftc.Encoder;
 import com.acmerobotics.roadrunner.ftc.FlightRecorder;
@@ -14,6 +15,8 @@ import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
+import org.firstinspires.ftc.teamcode.messages.ThreeDeadWheelInputsMessage;
+
 @Config
 public final class ThreeDeadWheelLocalizer implements Localizer {
     public static class Params {
@@ -29,6 +32,7 @@ public final class ThreeDeadWheelLocalizer implements Localizer {
     public final double inPerTick;
 
     private int lastPar0Pos, lastPar1Pos, lastPerpPos;
+    private boolean initialized;
 
     public ThreeDeadWheelLocalizer(HardwareMap hardwareMap, double inPerTick) {
         // TODO: make sure your config has **motors** with these names (or change them)
@@ -41,10 +45,6 @@ public final class ThreeDeadWheelLocalizer implements Localizer {
         // TODO: reverse encoder directions if needed
         //   par0.setDirection(DcMotorSimple.Direction.REVERSE);
 
-        lastPar0Pos = par0.getPositionAndVelocity().position;
-        lastPar1Pos = par1.getPositionAndVelocity().position;
-        lastPerpPos = perp.getPositionAndVelocity().position;
-
         this.inPerTick = inPerTick;
 
         FlightRecorder.write("THREE_DEAD_WHEEL_PARAMS", PARAMS);
@@ -55,6 +55,21 @@ public final class ThreeDeadWheelLocalizer implements Localizer {
         PositionVelocityPair par1PosVel = par1.getPositionAndVelocity();
         PositionVelocityPair perpPosVel = perp.getPositionAndVelocity();
 
+        FlightRecorder.write("THREE_DEAD_WHEEL_INPUTS", new ThreeDeadWheelInputsMessage(par0PosVel, par1PosVel, perpPosVel));
+
+        if (!initialized) {
+            initialized = true;
+
+            lastPar0Pos = par0PosVel.position;
+            lastPar1Pos = par1PosVel.position;
+            lastPerpPos = perpPosVel.position;
+
+            return new Twist2dDual<>(
+                    Vector2dDual.constant(new Vector2d(0.0, 0.0), 2),
+                    DualNum.constant(0.0, 2)
+            );
+        }
+
         int par0PosDelta = par0PosVel.position - lastPar0Pos;
         int par1PosDelta = par1PosVel.position - lastPar1Pos;
         int perpPosDelta = perpPosVel.position - lastPerpPos;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java
index d0d7ab5..edc4e85 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java
@@ -5,6 +5,7 @@ import com.acmerobotics.roadrunner.DualNum;
 import com.acmerobotics.roadrunner.Rotation2d;
 import com.acmerobotics.roadrunner.Time;
 import com.acmerobotics.roadrunner.Twist2dDual;
+import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.Vector2dDual;
 import com.acmerobotics.roadrunner.ftc.Encoder;
 import com.acmerobotics.roadrunner.ftc.FlightRecorder;
@@ -17,6 +18,9 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.IMU;
 
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
+import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
+import org.firstinspires.ftc.teamcode.messages.TwoDeadWheelInputsMessage;
 
 @Config
 public final class TwoDeadWheelLocalizer implements Localizer {
@@ -36,6 +40,7 @@ public final class TwoDeadWheelLocalizer implements Localizer {
     private final double inPerTick;
 
     private double lastRawHeadingVel, headingVelOffset;
+    private boolean initialized;
 
     public TwoDeadWheelLocalizer(HardwareMap hardwareMap, IMU imu, double inPerTick) {
         // TODO: make sure your config has **motors** with these names (or change them)
@@ -49,36 +54,47 @@ public final class TwoDeadWheelLocalizer implements Localizer {
 
         this.imu = imu;
 
-        lastParPos = par.getPositionAndVelocity().position;
-        lastPerpPos = perp.getPositionAndVelocity().position;
-        lastHeading = Rotation2d.exp(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
-
         this.inPerTick = inPerTick;
 
         FlightRecorder.write("TWO_DEAD_WHEEL_PARAMS", PARAMS);
     }
 
-    // see https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/617
-    private double getHeadingVelocity() {
-        double rawHeadingVel = imu.getRobotAngularVelocity(AngleUnit.RADIANS).zRotationRate;
+    public Twist2dDual<Time> update() {
+        PositionVelocityPair parPosVel = par.getPositionAndVelocity();
+        PositionVelocityPair perpPosVel = perp.getPositionAndVelocity();
+
+        YawPitchRollAngles angles = imu.getRobotYawPitchRollAngles();
+        AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.RADIANS);
+
+        FlightRecorder.write("TWO_DEAD_WHEEL_INPUTS", new TwoDeadWheelInputsMessage(parPosVel, perpPosVel, angles, angularVelocity));
+
+        Rotation2d heading = Rotation2d.exp(angles.getYaw(AngleUnit.RADIANS));
+
+        // see https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/617
+        double rawHeadingVel = angularVelocity.zRotationRate;
         if (Math.abs(rawHeadingVel - lastRawHeadingVel) > Math.PI) {
             headingVelOffset -= Math.signum(rawHeadingVel) * 2 * Math.PI;
         }
         lastRawHeadingVel = rawHeadingVel;
-        return headingVelOffset + rawHeadingVel;
-    }
+        double headingVel = headingVelOffset + rawHeadingVel;
 
-    public Twist2dDual<Time> update() {
-        PositionVelocityPair parPosVel = par.getPositionAndVelocity();
-        PositionVelocityPair perpPosVel = perp.getPositionAndVelocity();
-        Rotation2d heading = Rotation2d.exp(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
+        if (!initialized) {
+            initialized = true;
+
+            lastParPos = parPosVel.position;
+            lastPerpPos = perpPosVel.position;
+            lastHeading = heading;
+
+            return new Twist2dDual<>(
+                    Vector2dDual.constant(new Vector2d(0.0, 0.0), 2),
+                    DualNum.constant(0.0, 2)
+            );
+        }
 
         int parPosDelta = parPosVel.position - lastParPos;
         int perpPosDelta = perpPosVel.position - lastPerpPos;
         double headingDelta = heading.minus(lastHeading);
 
-        double headingVel = getHeadingVelocity();
-
         Twist2dDual<Time> twist = new Twist2dDual<>(
                 new Vector2dDual<>(
                         new DualNum<Time>(new double[] {
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/MecanumEncodersMessage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/MecanumEncodersMessage.java
deleted file mode 100644
index 8fa961e..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/MecanumEncodersMessage.java
+++ /dev/null
@@ -1,19 +0,0 @@
-package org.firstinspires.ftc.teamcode.messages;
-
-import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
-
-public final class MecanumEncodersMessage {
-    public long timestamp;
-    public PositionVelocityPair leftFront;
-    public PositionVelocityPair leftBack;
-    public PositionVelocityPair rightBack;
-    public PositionVelocityPair rightFront;
-
-    public MecanumEncodersMessage(PositionVelocityPair leftFront, PositionVelocityPair leftBack, PositionVelocityPair rightBack, PositionVelocityPair rightFront) {
-        this.timestamp = System.nanoTime();
-        this.leftFront = leftFront;
-        this.leftBack = leftBack;
-        this.rightBack = rightBack;
-        this.rightFront = rightFront;
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/MecanumLocalizerInputsMessage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/MecanumLocalizerInputsMessage.java
new file mode 100644
index 0000000..a48078f
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/MecanumLocalizerInputsMessage.java
@@ -0,0 +1,30 @@
+package org.firstinspires.ftc.teamcode.messages;
+
+import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
+
+public final class MecanumLocalizerInputsMessage {
+    public long timestamp;
+    public PositionVelocityPair leftFront;
+    public PositionVelocityPair leftBack;
+    public PositionVelocityPair rightBack;
+    public PositionVelocityPair rightFront;
+    public double yaw;
+    public double pitch;
+    public double roll;
+
+    public MecanumLocalizerInputsMessage(PositionVelocityPair leftFront, PositionVelocityPair leftBack, PositionVelocityPair rightBack, PositionVelocityPair rightFront, YawPitchRollAngles angles) {
+        this.timestamp = System.nanoTime();
+        this.leftFront = leftFront;
+        this.leftBack = leftBack;
+        this.rightBack = rightBack;
+        this.rightFront = rightFront;
+        {
+            this.yaw = angles.getYaw(AngleUnit.RADIANS);
+            this.pitch = angles.getPitch(AngleUnit.RADIANS);
+            this.roll = angles.getRoll(AngleUnit.RADIANS);
+        }
+    }
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TankEncodersMessage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TankLocalizerInputsMessage.java
similarity index 73%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TankEncodersMessage.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TankLocalizerInputsMessage.java
index cc6c545..96cc009 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TankEncodersMessage.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TankLocalizerInputsMessage.java
@@ -4,12 +4,12 @@ import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
 
 import java.util.List;
 
-public final class TankEncodersMessage {
+public final class TankLocalizerInputsMessage {
     public long timestamp;
     public PositionVelocityPair[] left;
     public PositionVelocityPair[] right;
 
-    public TankEncodersMessage(List<PositionVelocityPair> left, List<PositionVelocityPair> right) {
+    public TankLocalizerInputsMessage(List<PositionVelocityPair> left, List<PositionVelocityPair> right) {
         this.timestamp = System.nanoTime();
         this.left = left.toArray(new PositionVelocityPair[0]);
         this.right = right.toArray(new PositionVelocityPair[0]);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/ThreeDeadWheelEncodersMessage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/ThreeDeadWheelInputsMessage.java
similarity index 68%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/ThreeDeadWheelEncodersMessage.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/ThreeDeadWheelInputsMessage.java
index 7d8a63c..d291250 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/ThreeDeadWheelEncodersMessage.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/ThreeDeadWheelInputsMessage.java
@@ -2,13 +2,13 @@ package org.firstinspires.ftc.teamcode.messages;
 
 import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
 
-public final class ThreeDeadWheelEncodersMessage {
+public final class ThreeDeadWheelInputsMessage {
     public long timestamp;
     public PositionVelocityPair par0;
     public PositionVelocityPair par1;
     public PositionVelocityPair perp;
 
-    public ThreeDeadWheelEncodersMessage(PositionVelocityPair par0, PositionVelocityPair par1, PositionVelocityPair perp) {
+    public ThreeDeadWheelInputsMessage(PositionVelocityPair par0, PositionVelocityPair par1, PositionVelocityPair perp) {
         this.timestamp = System.nanoTime();
         this.par0 = par0;
         this.par1 = par1;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TwoDeadWheelEncodersMessage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TwoDeadWheelEncodersMessage.java
deleted file mode 100644
index dde7f44..0000000
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TwoDeadWheelEncodersMessage.java
+++ /dev/null
@@ -1,15 +0,0 @@
-package org.firstinspires.ftc.teamcode.messages;
-
-import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
-
-public final class TwoDeadWheelEncodersMessage {
-    public long timestamp;
-    public PositionVelocityPair par;
-    public PositionVelocityPair perp;
-
-    public TwoDeadWheelEncodersMessage(PositionVelocityPair par, PositionVelocityPair perp) {
-        this.timestamp = System.nanoTime();
-        this.par = par;
-        this.perp = perp;
-    }
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TwoDeadWheelInputsMessage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TwoDeadWheelInputsMessage.java
new file mode 100644
index 0000000..ef0b692
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TwoDeadWheelInputsMessage.java
@@ -0,0 +1,35 @@
+package org.firstinspires.ftc.teamcode.messages;
+
+import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
+import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
+
+public final class TwoDeadWheelInputsMessage {
+    public long timestamp;
+    public PositionVelocityPair par;
+    public PositionVelocityPair perp;
+    public double yaw;
+    public double pitch;
+    public double roll;
+    public double xRotationRate;
+    public double yRotationRate;
+    public double zRotationRate;
+
+    public TwoDeadWheelInputsMessage(PositionVelocityPair par, PositionVelocityPair perp, YawPitchRollAngles angles, AngularVelocity angularVelocity) {
+        this.timestamp = System.nanoTime();
+        this.par = par;
+        this.perp = perp;
+        {
+            this.yaw = angles.getYaw(AngleUnit.RADIANS);
+            this.pitch = angles.getPitch(AngleUnit.RADIANS);
+            this.roll = angles.getRoll(AngleUnit.RADIANS);
+        }
+        {
+            this.xRotationRate = angularVelocity.xRotationRate;
+            this.yRotationRate = angularVelocity.yRotationRate;
+            this.zRotationRate = angularVelocity.zRotationRate;
+        }
+    }
+}