diff --git a/photon-client/src/components/cameras/CameraCalibrationCard.vue b/photon-client/src/components/cameras/CameraCalibrationCard.vue
index 29b4d2b888..d9eca1a369 100644
--- a/photon-client/src/components/cameras/CameraCalibrationCard.vue
+++ b/photon-client/src/components/cameras/CameraCalibrationCard.vue
@@ -102,7 +102,7 @@ const downloadCalibBoard = () => {
           const yPos = chessboardStartY + squareY * squareSizeIn.value;
 
           // Only draw the odd squares to create the chessboard pattern
-          if ((xPos + yPos + 0.25) % 2 === 0) {
+          if (squareY % 2 != squareX % 2) {
             doc.rect(xPos, yPos, squareSizeIn.value, squareSizeIn.value, "F");
           }
         }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
index 9548fd2c19..15f67200ad 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -395,6 +395,7 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
                 // Sort by resolution
                 var sortedList =
                         videoModesList.stream()
+                                .distinct() // remove redundant video mode entries
                                 .sorted(((a, b) -> (b.width + b.height) - (a.width + a.height)))
                                 .collect(Collectors.toList());
                 Collections.reverse(sortedList);
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;
 }