diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
index e4d1efb99..165bd304f 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
@@ -19,6 +19,7 @@ package org.photonvision.vision.pipeline;
 
 import edu.wpi.first.apriltag.AprilTagDetection;
 import edu.wpi.first.apriltag.AprilTagDetector;
+import edu.wpi.first.apriltag.AprilTagPoseEstimate;
 import edu.wpi.first.apriltag.AprilTagPoseEstimator.Config;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.util.Units;
@@ -146,17 +147,19 @@ public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipel
             if (detection.getDecisionMargin() < settings.decisionMargin) continue;
             if (detection.getHamming() > settings.hammingDist) continue;
 
-            // Do pose estimation for all the tags that make it thru
-            // TODO
-            var poseResult = poseEstimatorPipe.run(detection);
-            sumPipeNanosElapsed += poseResult.nanosElapsed;
+            AprilTagPoseEstimate tagPoseEstimate = null;
+            if (settings.solvePNPEnabled) {
+                var poseResult = poseEstimatorPipe.run(detection);
+                sumPipeNanosElapsed += poseResult.nanosElapsed;
+                tagPoseEstimate = poseResult.output;
+            }
 
             // populate the target list
             // Challenge here is that TrackedTarget functions with OpenCV Contour
             TrackedTarget target =
                     new TrackedTarget(
                             detection,
-                            poseResult.output,
+                            tagPoseEstimate,
                             new TargetCalculationParameters(
                                     false, null, null, null, null, frameStaticProperties));
 
diff --git a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
index 1ffe37538..01309b897 100644
--- a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
+++ b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
@@ -80,20 +80,25 @@ public class TrackedTarget implements Releasable {
                         tagDetection.getCenterX(), params.cameraCenterPoint.x, params.horizontalFocalLength);
         var bestPose = new Transform3d();
         var altPose = new Transform3d();
-        if (tagPose.error1 <= tagPose.error2) {
-            bestPose = tagPose.pose1;
-            altPose = tagPose.pose2;
-        } else {
-            bestPose = tagPose.pose2;
-            altPose = tagPose.pose1;
+
+        if (tagPose != null) {
+            if (tagPose.error1 <= tagPose.error2) {
+                bestPose = tagPose.pose1;
+                altPose = tagPose.pose2;
+            } else {
+                bestPose = tagPose.pose2;
+                altPose = tagPose.pose1;
+            }
+
+            bestPose = MathUtils.convertApriltagtoOpenCV(bestPose);
+            altPose = MathUtils.convertApriltagtoOpenCV(altPose);
+
+            m_bestCameraToTarget3d = bestPose;
+            m_altCameraToTarget3d = altPose;
+
+            m_poseAmbiguity = tagPose.getAmbiguity();
         }
 
-        bestPose = MathUtils.convertApriltagtoOpenCV(bestPose);
-        altPose = MathUtils.convertApriltagtoOpenCV(altPose);
-
-        m_bestCameraToTarget3d = bestPose;
-        m_altCameraToTarget3d = altPose;
-
         double[] corners = tagDetection.getCorners();
         Point[] cornerPoints =
                 new Point[] {
@@ -128,8 +133,6 @@ public class TrackedTarget implements Releasable {
         var rvec = new Mat(3, 1, CvType.CV_64FC1);
         MathUtils.rotationToOpencvRvec(bestPose.getRotation(), rvec);
         setCameraRelativeRvec(rvec);
-
-        m_poseAmbiguity = tagPose.getAmbiguity();
     }
 
     public void setFiducialId(int id) {