diff --git a/wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java
index 48278ced6e..abb26dc8da 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java
@@ -29,12 +29,12 @@ class LinearQuadraticRegulatorTest {
 
     var qElms = VecBuilder.fill(0.02, 0.4);
     var rElms = VecBuilder.fill(12.0);
-    var dt = 0.00505;
+    var dt = 0.005;
 
     var K = new LinearQuadraticRegulator<>(plant, qElms, rElms, dt).getK();
 
-    assertEquals(522.153, K.get(0, 0), 0.1);
-    assertEquals(38.2, K.get(0, 1), 0.1);
+    assertEquals(522.87006795347486, K.get(0, 0), 1e-6);
+    assertEquals(38.239878385020411, K.get(0, 1), 1e-6);
   }
 
   @Test
@@ -65,12 +65,12 @@ class LinearQuadraticRegulatorTest {
 
     var qElms = VecBuilder.fill(0.01745, 0.08726);
     var rElms = VecBuilder.fill(12.0);
-    var dt = 0.00505;
+    var dt = 0.005;
 
     var K = new LinearQuadraticRegulator<>(plant, qElms, rElms, dt).getK();
 
-    assertEquals(19.16, K.get(0, 0), 0.1);
-    assertEquals(3.32, K.get(0, 1), 0.1);
+    assertEquals(19.339349883583761, K.get(0, 0), 1e-6);
+    assertEquals(3.3542559517421582, K.get(0, 1), 1e-6);
   }
 
   /**
diff --git a/wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java
index a34b8b68a8..4baaf2d551 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java
@@ -22,7 +22,7 @@ import java.util.Random;
 import org.junit.jupiter.api.Test;
 
 class LinearSystemLoopTest {
-  private static final double kDt = 0.00505;
+  private static final double kDt = 0.005;
   private static final double kPositionStddev = 0.0001;
   private static final Random random = new Random();
 
@@ -45,12 +45,12 @@ class LinearSystemLoopTest {
           (LinearSystem<N2, N1, N1>) m_plant.slice(0),
           VecBuilder.fill(0.02, 0.4),
           VecBuilder.fill(12.0),
-          0.00505);
+          0.005);
 
   @SuppressWarnings("unchecked")
   private final LinearSystemLoop<N2, N1, N1> m_loop =
       new LinearSystemLoop<>(
-          (LinearSystem<N2, N1, N1>) m_plant.slice(0), m_controller, m_observer, 12, 0.00505);
+          (LinearSystem<N2, N1, N1>) m_plant.slice(0), m_controller, m_observer, 12, 0.005);
 
   private static void updateTwoState(
       LinearSystem<N2, N1, N1> plant, LinearSystemLoop<N2, N1, N1> loop, double noise) {
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java
index a1b5b3a1cf..7ea9c9ec5a 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java
@@ -68,7 +68,7 @@ class ExtendedKalmanFilterTest {
 
   @Test
   void testInit() {
-    double dtSeconds = 0.00505;
+    double dtSeconds = 0.005;
 
     assertDoesNotThrow(
         () -> {
@@ -98,7 +98,7 @@ class ExtendedKalmanFilterTest {
 
   @Test
   void testConvergence() {
-    double dtSeconds = 0.00505;
+    double dtSeconds = 0.005;
     double rbMeters = 0.8382 / 2.0; // Robot radius
 
     ExtendedKalmanFilter<N5, N2, N3> observer =
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java
index 42fbd92db0..c3369161cf 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java
@@ -29,7 +29,7 @@ import org.junit.jupiter.api.Test;
 class KalmanFilterTest {
   private static LinearSystem<N2, N1, N2> elevatorPlant;
 
-  private static final double kDt = 0.00505;
+  private static final double kDt = 0.005;
 
   static {
     createElevator();
diff --git a/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp b/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp
index 452e017ecc..fe22274228 100644
--- a/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp
@@ -12,7 +12,7 @@ namespace frc {
 
 TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
   constexpr auto trackwidth = 0.9_m;
-  constexpr auto dt = 5_ms;
+  constexpr units::second_t dt = 5_ms;
   constexpr auto maxA = 2_mps_sq;
   constexpr auto maxAlpha = 2_rad_per_s_sq;
 
@@ -105,7 +105,7 @@ TEST(DifferentialDriveAccelerationLimiterTest, LowLimits) {
 
 TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
   constexpr auto trackwidth = 0.9_m;
-  constexpr auto dt = 5_ms;
+  constexpr units::second_t dt = 5_ms;
 
   using Kv_t = decltype(1_V / 1_mps);
   using Ka_t = decltype(1_V / 1_mps_sq);
@@ -173,7 +173,7 @@ TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) {
 
 TEST(DifferentialDriveAccelerationLimiterTest, SeparateMinMaxLowLimits) {
   constexpr auto trackwidth = 0.9_m;
-  constexpr auto dt = 5_ms;
+  constexpr units::second_t dt = 5_ms;
   constexpr auto minA = -1_mps_sq;
   constexpr auto maxA = 2_mps_sq;
   constexpr auto maxAlpha = 2_rad_per_s_sq;
diff --git a/wpimath/src/test/native/cpp/controller/DifferentialDriveFeedforwardTest.cpp b/wpimath/src/test/native/cpp/controller/DifferentialDriveFeedforwardTest.cpp
index 5428d843ca..c0a0cdb02e 100644
--- a/wpimath/src/test/native/cpp/controller/DifferentialDriveFeedforwardTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/DifferentialDriveFeedforwardTest.cpp
@@ -20,7 +20,7 @@ TEST(DifferentialDriveFeedforwardTest, CalculateWithTrackwidth) {
   constexpr auto kVAngular = 1_V / 1_rad_per_s;
   constexpr auto kAAngular = 1_V / 1_rad_per_s_sq;
   constexpr auto trackwidth = 1_m;
-  constexpr auto dt = 20_ms;
+  constexpr units::second_t dt = 20_ms;
 
   frc::DifferentialDriveFeedforward differentialDriveFeedforward{
       kVLinear, kALinear, kVAngular, kAAngular, trackwidth};
@@ -54,7 +54,7 @@ TEST(DifferentialDriveFeedforwardTest, CalculateWithoutTrackwidth) {
   constexpr auto kALinear = 1_V / 1_mps_sq;
   constexpr auto kVAngular = 1_V / 1_mps;
   constexpr auto kAAngular = 1_V / 1_mps_sq;
-  constexpr auto dt = 20_ms;
+  constexpr units::second_t dt = 20_ms;
 
   frc::DifferentialDriveFeedforward differentialDriveFeedforward{
       kVLinear, kALinear, kVAngular, kAAngular};
diff --git a/wpimath/src/test/native/cpp/controller/ImplicitModelFollowerTest.cpp b/wpimath/src/test/native/cpp/controller/ImplicitModelFollowerTest.cpp
index afa491a7b1..7994c84526 100644
--- a/wpimath/src/test/native/cpp/controller/ImplicitModelFollowerTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/ImplicitModelFollowerTest.cpp
@@ -10,7 +10,7 @@
 namespace frc {
 
 TEST(ImplicitModelFollowerTest, SameModel) {
-  constexpr auto dt = 5_ms;
+  constexpr units::second_t dt = 5_ms;
 
   using Kv_t = decltype(1_V / 1_mps);
   using Ka_t = decltype(1_V / 1_mps_sq);
@@ -54,7 +54,7 @@ TEST(ImplicitModelFollowerTest, SameModel) {
 }
 
 TEST(ImplicitModelFollowerTest, SlowerRefModel) {
-  constexpr auto dt = 5_ms;
+  constexpr units::second_t dt = 5_ms;
 
   using Kv_t = decltype(1_V / 1_mps);
   using Ka_t = decltype(1_V / 1_mps_sq);
diff --git a/wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp b/wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp
index 3efb08d614..7f4a4e049a 100644
--- a/wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp
@@ -31,10 +31,10 @@ TEST(LinearQuadraticRegulatorTest, ElevatorGains) {
     return frc::LinearSystemId::ElevatorSystem(motors, m, r, G).Slice(0);
   }();
   Matrixd<1, 2> K =
-      LinearQuadraticRegulator<2, 1>{plant, {0.02, 0.4}, {12.0}, 5.05_ms}.K();
+      LinearQuadraticRegulator<2, 1>{plant, {0.02, 0.4}, {12.0}, 5_ms}.K();
 
-  EXPECT_NEAR(522.15314269, K(0, 0), 1e-6);
-  EXPECT_NEAR(38.20138596, K(0, 1), 1e-6);
+  EXPECT_NEAR(522.87006795347486, K(0, 0), 1e-6);
+  EXPECT_NEAR(38.239878385020411, K(0, 1), 1e-6);
 }
 
 TEST(LinearQuadraticRegulatorTest, ArmGains) {
@@ -56,11 +56,11 @@ TEST(LinearQuadraticRegulatorTest, ArmGains) {
   }();
 
   Matrixd<1, 2> K =
-      LinearQuadraticRegulator<2, 1>{plant, {0.01745, 0.08726}, {12.0}, 5.05_ms}
+      LinearQuadraticRegulator<2, 1>{plant, {0.01745, 0.08726}, {12.0}, 5_ms}
           .K();
 
-  EXPECT_NEAR(19.16, K(0, 0), 1e-1);
-  EXPECT_NEAR(3.32, K(0, 1), 1e-1);
+  EXPECT_NEAR(19.339349883583761, K(0, 0), 1e-6);
+  EXPECT_NEAR(3.3542559517421582, K(0, 1), 1e-6);
 }
 
 TEST(LinearQuadraticRegulatorTest, FourMotorElevator) {
diff --git a/wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp b/wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp
index 362de8b699..e54c8bb32c 100644
--- a/wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp
@@ -61,7 +61,7 @@ frc::Vectord<5> GlobalMeasurementModel(
 }  // namespace
 
 TEST(ExtendedKalmanFilterTest, Init) {
-  constexpr auto dt = 0.00505_s;
+  constexpr units::second_t dt = 5_ms;
 
   frc::ExtendedKalmanFilter<5, 2, 3> observer{Dynamics,
                                               LocalMeasurementModel,
@@ -80,7 +80,7 @@ TEST(ExtendedKalmanFilterTest, Init) {
 }
 
 TEST(ExtendedKalmanFilterTest, Convergence) {
-  constexpr auto dt = 0.00505_s;
+  constexpr units::second_t dt = 5_ms;
   constexpr auto rb = 0.8382_m / 2.0;  // Robot radius
 
   frc::ExtendedKalmanFilter<5, 2, 3> observer{Dynamics,
diff --git a/wpimath/src/test/native/cpp/estimator/UnscentedKalmanFilterTest.cpp b/wpimath/src/test/native/cpp/estimator/UnscentedKalmanFilterTest.cpp
index 21d2df98f4..01a4ee8bcc 100644
--- a/wpimath/src/test/native/cpp/estimator/UnscentedKalmanFilterTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/UnscentedKalmanFilterTest.cpp
@@ -68,7 +68,7 @@ frc::Vectord<5> DriveGlobalMeasurementModel(
 }
 
 TEST(UnscentedKalmanFilterTest, DriveInit) {
-  constexpr auto dt = 5_ms;
+  constexpr units::second_t dt = 5_ms;
 
   frc::UnscentedKalmanFilter<5, 2, 3> observer{DriveDynamics,
                                                DriveLocalMeasurementModel,
@@ -94,7 +94,7 @@ TEST(UnscentedKalmanFilterTest, DriveInit) {
 }
 
 TEST(UnscentedKalmanFilterTest, DriveConvergence) {
-  constexpr auto dt = 5_ms;
+  constexpr units::second_t dt = 5_ms;
   constexpr auto rb = 0.8382_m / 2.0;  // Robot radius
 
   frc::UnscentedKalmanFilter<5, 2, 3> observer{DriveDynamics,
@@ -206,7 +206,7 @@ TEST(UnscentedKalmanFilterTest, LinearUKF) {
 }
 
 TEST(UnscentedKalmanFilterTest, RoundTripP) {
-  constexpr auto dt = 5_ms;
+  constexpr units::second_t dt = 5_ms;
 
   frc::UnscentedKalmanFilter<2, 2, 2> observer{
       [](const frc::Vectord<2>& x, const frc::Vectord<2>& u) { return x; },
diff --git a/wpimath/src/test/native/cpp/system/DiscretizationTest.cpp b/wpimath/src/test/native/cpp/system/DiscretizationTest.cpp
index 055ee49736..fec4447531 100644
--- a/wpimath/src/test/native/cpp/system/DiscretizationTest.cpp
+++ b/wpimath/src/test/native/cpp/system/DiscretizationTest.cpp
@@ -56,7 +56,7 @@ TEST(DiscretizationTest, DiscretizeSlowModelAQ) {
   frc::Matrixd<2, 2> contA{{0, 1}, {0, 0}};
   frc::Matrixd<2, 2> contQ{{1, 0}, {0, 1}};
 
-  constexpr auto dt = 1_s;
+  constexpr units::second_t dt = 1_s;
 
   //       T
   // Q_d ≈ ∫ e^(Aτ) Q e^(Aᵀτ) dτ
@@ -88,7 +88,7 @@ TEST(DiscretizationTest, DiscretizeFastModelAQ) {
   frc::Matrixd<2, 2> contA{{0, 1}, {0, -1406.29}};
   frc::Matrixd<2, 2> contQ{{0.0025, 0}, {0, 1}};
 
-  constexpr auto dt = 5_ms;
+  constexpr units::second_t dt = 5_ms;
 
   //       T
   // Q_d = ∫ e^(Aτ) Q e^(Aᵀτ) dτ