diff --git a/src/main/java/frc/robot/subsystems/vision/TurretCameraVisionIO.java b/src/main/java/frc/robot/subsystems/vision/TurretCameraVisionIO.java
index 7ea93a1..1ff1b5b 100644
--- a/src/main/java/frc/robot/subsystems/vision/TurretCameraVisionIO.java
+++ b/src/main/java/frc/robot/subsystems/vision/TurretCameraVisionIO.java
@@ -102,8 +102,8 @@ private void handleApriltags(
         double tagDist = results.get().targetDistance;
         double ta = results.get().ta;
         Logger.recordOutput("Limelight/Gabriel/tagDist", tagDist);
-        stdDevX *= Math.pow(tagDist, alpha) * Math.pow(1.0 / ta, beta);
-        stdDevY *= Math.pow(tagDist, alpha) * Math.pow(1.0 / ta, beta);
+        stdDevX *= Math.pow(tagDist, alpha) * Math.pow(1.0 / (ta + 1e-4), beta);
+        stdDevY *= Math.pow(tagDist, alpha) * Math.pow(1.0 / (ta + 1e-4), beta);
         stdDevYaw *= tagDist;
       }
 
diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java b/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java
index e015b87..c7c6b22 100644
--- a/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java
+++ b/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java
@@ -76,8 +76,8 @@ private void handleApriltags(VisionInputs generalInputs, ApriltagInputs apriltag
         double tagDist = results.get().targetDistance;
         double ta = results.get().ta;
         Logger.recordOutput("Limelight/Gabriel/tagDist", tagDist);
-        stdDevX *= Math.pow(tagDist, alpha) * Math.pow(1.0 / ta, beta);
-        stdDevY *= Math.pow(tagDist, alpha) * Math.pow(1.0 / ta, beta);
+        stdDevX *= Math.pow(tagDist, alpha) * Math.pow(1.0 / (ta + 1e-4), beta);
+        stdDevY *= Math.pow(tagDist, alpha) * Math.pow(1.0 / (ta + 1e-4), beta);
         stdDevYaw *= tagDist;
       }