diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
index f93c499140..6b217c9b73 100644
--- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
@@ -408,8 +408,8 @@ private Optional<EstimatedRobotPose> update(
                 return Optional.empty();
         }
 
-        if (estimatedPose.isEmpty()) {
-            lastPose = null;
+        if (estimatedPose.isPresent()) {
+            lastPose = estimatedPose.get().estimatedPose;
         }
 
         return estimatedPose;
diff --git a/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp
index 30bc6de2df..d14394b999 100644
--- a/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp
+++ b/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp
@@ -186,6 +186,9 @@ std::optional<EstimatedRobotPose> PhotonPoseEstimator::Update(
       ret = std::nullopt;
   }
 
+  if (ret) {
+    lastPose = ret.value().estimatedPose;
+  }
   return ret;
 }