diff --git a/hal/src/generate/ResourceType.txt b/hal/src/generate/ResourceType.txt
index c9b190e455..b8699b098c 100644
--- a/hal/src/generate/ResourceType.txt
+++ b/hal/src/generate/ResourceType.txt
@@ -82,3 +82,4 @@ kResourceType_DigilentDMC60 = 80
 kResourceType_PWMVictorSPX = 81
 kResourceType_RevSparkMaxPWM = 82
 kResourceType_RevSparkMaxCAN = 83
+kResourceType_ADIS16470 = 84
diff --git a/shared/nilibraries.gradle b/shared/nilibraries.gradle
index e427421bb6..937abbf7a0 100644
--- a/shared/nilibraries.gradle
+++ b/shared/nilibraries.gradle
@@ -9,7 +9,7 @@ project.netCommComponents.each { String s->
   netCommLibConfigs[s] = ['linux:athena']
 }
 
-def niLibrariesVersion = '2019.9.3'
+def niLibrariesVersion = '2019.12.1'
 
 model {
   dependencyConfigs {