diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
index f878f1f49a..c878a64d31 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
@@ -100,7 +100,7 @@ public class GyroTest extends AbstractComsSetup {
     assertEquals(errorMessage(angle, 0), 0, angle, .5);
     Timer.delay(5);
     angle = gyro.getAngle();
-    assertEquals("After 5 seconds " + errorMessage(angle, 0), 0, angle, 1);
+    assertEquals("After 5 seconds " + errorMessage(angle, 0), 0, angle, 2.0);
   }
 
   /**
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/TiltPanCameraFixture.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/TiltPanCameraFixture.java
index 29e06833c2..002443ad17 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/TiltPanCameraFixture.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/TiltPanCameraFixture.java
@@ -65,6 +65,7 @@ public abstract class TiltPanCameraFixture implements ITestFixture {
 
   @Override
   public boolean reset() {
+	if(gyro != null)
     gyro.reset();
     return true;
   }
@@ -101,8 +102,14 @@ public abstract class TiltPanCameraFixture implements ITestFixture {
     tilt = null;
     pan.free();
     pan = null;
+    if(gyro !=null){//in case not freed during gyro tests
+    	gyro.free();
+    	gyro = null;
+    }
+    if(gyroParam != null){//in case gyro tests failed before getting to this point
     gyroParam.free();
     gyroParam = null;
+    }
     return true;
   }