diff --git a/src/main/java/competition/general_commands/GamepadRumbleCommand.java b/src/main/java/competition/general_commands/GamepadRumbleCommand.java
index 3c15d70f..d3f64a85 100644
--- a/src/main/java/competition/general_commands/GamepadRumbleCommand.java
+++ b/src/main/java/competition/general_commands/GamepadRumbleCommand.java
@@ -31,7 +31,7 @@ public GamepadRumbleCommand(HoodSubsystem hoodSubsystem, OperatorInterface oi, S
 
     @Override
     public void execute() {
-        var lookAtPointFault = drive.getLookAtPointActive() && !vision.areAllCamerasConnected();
+        var lookAtPointFault = drive.getLookAtPointActive() && !vision.hasRecentPoseObservation();
         var shooterReady = DriverStation.isTeleop() && shooter.isReadyToFire() && hood.isMaintainerAtGoal();
 
         if (shooterReady) {
diff --git a/src/main/java/competition/subsystems/vision/AprilTagVisionSubsystemExtended.java b/src/main/java/competition/subsystems/vision/AprilTagVisionSubsystemExtended.java
index 506665ac..ec85a157 100644
--- a/src/main/java/competition/subsystems/vision/AprilTagVisionSubsystemExtended.java
+++ b/src/main/java/competition/subsystems/vision/AprilTagVisionSubsystemExtended.java
@@ -7,8 +7,10 @@
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.geometry.Translation3d;
+import edu.wpi.first.wpilibj.Timer;
 import xbot.common.injection.electrical_contract.CameraInfo;
 import xbot.common.injection.electrical_contract.XCameraElectricalContract;
+import xbot.common.properties.DoubleProperty;
 import xbot.common.properties.PropertyFactory;
 import xbot.common.subsystems.vision.AprilTagVisionIO;
 import xbot.common.subsystems.vision.AprilTagVisionIOFactory;
@@ -24,6 +26,7 @@ public class AprilTagVisionSubsystemExtended extends AprilTagVisionSubsystem {
     HashMap<Pose2d, Integer> aprilTagIDHashMap = new HashMap<>();
     private final AprilTagFieldLayout aprilTagFieldLayout;
     public final CameraInfo[] cameras;
+    private final DoubleProperty stalenessThresholdInSeconds;
 
     @Inject
     public AprilTagVisionSubsystemExtended(PropertyFactory pf,
@@ -48,6 +51,8 @@ public AprilTagVisionSubsystemExtended(PropertyFactory pf,
         // aprilTagIDHashMap.put(Landmarks.BlueFarAlgae, 21);
         // aprilTagIDHashMap.put(Landmarks.BlueFarRightAlgae, 22);
 
+        pf.setPrefix("AprilTagVisionSubsystemExtended");
+        this.stalenessThresholdInSeconds = pf.createPersistentProperty("Staleness Threshold In Seconds", 0.2);
         aprilTagFieldLayout = fieldLayout;
     }
 
@@ -114,4 +119,15 @@ public boolean areAllCamerasConnected() {
         }
         return true;
     }
+
+    public boolean hasRecentPoseObservation() {
+        for (var poseObservation : this.getAllPoseObservations()) {
+            boolean stale = Timer.getFPGATimestamp() - poseObservation.timestampSeconds() > this.stalenessThresholdInSeconds.get();
+            if (!stale) {
+                return true;
+            }
+        }
+
+        return false;
+    }
 }