From d760a4add91be658a758fac2ca506685c8af3ca7 Mon Sep 17 00:00:00 2001
From: iefomit <timofei.stem@gmail.com>
Date: Sun, 29 Mar 2026 19:11:39 -0700
Subject: [PATCH] reset gyro

---
 src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
index 4fbaefd..9befad4 100644
--- a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
@@ -656,6 +656,7 @@ public class Drivetrain extends SubsystemBase {
         currentHeading = pose.getRotation().getRadians();
         poseEstimator.resetPosition(gyroInputs.yawPosition, getModulePositions(), pose);
         modulePoses.reset();
+        gyroBiasEstimator.reset();
     }
 
     /**
-- 
2.39.5