diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
index 654a20ffb1..f7be897762 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
@@ -226,6 +226,8 @@ public class DifferentialDrivePoseEstimator {
 
     m_observer.setXhat(fillStateVector(poseMeters, 0.0, 0.0));
 
+    m_prevTimeSeconds = -1;
+
     m_gyroOffset = getEstimatedPosition().getRotation().minus(gyroAngle);
     m_previousAngle = poseMeters.getRotation();
   }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
index 0b82c870f8..c8dbdedbf0 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
@@ -190,6 +190,8 @@ public class MecanumDrivePoseEstimator {
 
     m_observer.setXhat(StateSpaceUtil.poseTo3dVector(poseMeters));
 
+    m_prevTimeSeconds = -1;
+
     m_gyroOffset = getEstimatedPosition().getRotation().minus(gyroAngle);
     m_previousAngle = poseMeters.getRotation();
   }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
index 2588e4d54b..7c205de2e6 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
@@ -188,6 +188,8 @@ public class SwerveDrivePoseEstimator {
 
     m_observer.setXhat(StateSpaceUtil.poseTo3dVector(poseMeters));
 
+    m_prevTimeSeconds = -1;
+
     m_gyroOffset = getEstimatedPosition().getRotation().minus(gyroAngle);
     m_previousAngle = poseMeters.getRotation();
   }
diff --git a/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp b/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
index 7b25629861..d4115500e5 100644
--- a/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
+++ b/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
@@ -58,6 +58,8 @@ void DifferentialDrivePoseEstimator::ResetPosition(
 
   m_observer.SetXhat(FillStateVector(pose, 0_m, 0_m));
 
+  m_prevTime = -1_s;
+
   m_gyroOffset = GetEstimatedPosition().Rotation() - gyroAngle;
   m_previousAngle = pose.Rotation();
 }
diff --git a/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp b/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
index e411eaa879..a0a115481d 100644
--- a/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
+++ b/wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
@@ -59,6 +59,8 @@ void frc::MecanumDrivePoseEstimator::ResetPosition(
 
   m_observer.SetXhat(PoseTo3dVector(pose));
 
+  m_prevTime = -1_s;
+
   m_gyroOffset = pose.Rotation() - gyroAngle;
   m_previousAngle = pose.Rotation();
 }
diff --git a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
index 2fe8ddf037..ac680ed1c6 100644
--- a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
@@ -127,6 +127,8 @@ class SwerveDrivePoseEstimator {
 
     m_observer.SetXhat(PoseTo3dVector(pose));
 
+    m_prevTime = -1_s;
+
     m_gyroOffset = pose.Rotation() - gyroAngle;
     m_previousAngle = pose.Rotation();
   }