diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
index e40f74ee2e..de2d31c7fe 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
@@ -49,7 +49,8 @@ import java.util.function.BiConsumer;
  * left, front right, rear left, and rear right wheels.
  *
  * <p><strong> y = [x, y, theta]ᵀ </strong> from vision containing x position, y position, and
- * heading; or <strong> y = [theta]ᵀ </strong> containing gyro heading.
+ * heading; or <strong> y = [theta, s_fl, s_fr, s_rl, s_rr]ᵀ </strong> containing gyro heading,
+ * followed by the distance driven by the front left, front right, rear left, and rear right wheels.
  */
 public class MecanumDrivePoseEstimator {
   private final UnscentedKalmanFilter<N7, N7, N5> m_observer;
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
index 09cd6ec21b..6e2b1350ba 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
@@ -43,14 +43,15 @@ import java.util.function.BiConsumer;
  * <p>The state-space system used internally has the following states (x), inputs (u), and outputs
  * (y):
  *
- * <p><strong> x = [x, y, theta, s_0, ... s_n]ᵀ </strong> in the field coordinate system containing
+ * <p><strong> x = [x, y, theta, s_0, ..., s_n]ᵀ </strong> in the field coordinate system containing
  * x position, y position, and heading, followed by the distance travelled by each wheel.
  *
  * <p><strong> u = [v_x, v_y, omega, v_0, ... v_n]ᵀ </strong> containing x velocity, y velocity, and
  * angular rate in the field coordinate system, followed by the velocity measured at each wheel.
  *
  * <p><strong> y = [x, y, theta]ᵀ </strong> from vision containing x position, y position, and
- * heading; or <strong> y = [theta]ᵀ </strong> containing gyro heading.
+ * heading; or <strong> y = [theta, s_0, ..., s_n]ᵀ </strong> containing gyro heading, followed by
+ * the distance travelled by each wheel.
  */
 public class SwerveDrivePoseEstimator<States extends Num, Inputs extends Num, Outputs extends Num> {
   private final UnscentedKalmanFilter<States, Inputs, Outputs> m_observer;
diff --git a/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
index 44e40a9afa..1a072dcde7 100644
--- a/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
@@ -46,8 +46,9 @@ namespace frc {
  * right wheels.
  *
  * <strong> y = [x, y, theta]ᵀ </strong> from vision containing x position, y
- * position, and heading; or <strong> y = [theta]ᵀ </strong> containing gyro
- * heading.
+ * position, and heading; or <strong> y = [theta, s_fl, s_fr, s_rl, s_rr]ᵀ
+ * </strong> containing gyro heading, followed by the distance driven by the
+ * front left, front right, rear left, and rear right wheels.
  */
 class WPILIB_DLLEXPORT MecanumDrivePoseEstimator {
  public:
diff --git a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
index 2df255d007..327ca0a779 100644
--- a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
@@ -38,7 +38,7 @@ namespace frc {
  * The state-space system used internally has the following states (x), inputs
  * (u), and outputs (y):
  *
- * <strong> x = [x, y, theta, s_0, ... s_n]ᵀ </strong> in the field coordinate
+ * <strong> x = [x, y, theta, s_0, ..., s_n]ᵀ </strong> in the field coordinate
  * system containing x position, y position, and heading, followed by the
  * distance travelled by each wheel.
  *
@@ -47,8 +47,8 @@ namespace frc {
  * followed by the velocity measured at each wheel.
  *
  * <strong> y = [x, y, theta]ᵀ </strong> from vision containing x position, y
- * position, and heading; or <strong> y = [theta]ᵀ </strong> containing gyro
- * heading.
+ * position, and heading; or <strong> y = [theta, s_0, ..., s_n]ᵀ </strong>
+ * containing gyro heading, followed by the distance travelled by each wheel.
  */
 template <size_t NumModules>
 class SwerveDrivePoseEstimator {