diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
index 074362e359..b199d4d63b 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
@@ -40,8 +40,8 @@ import java.util.function.BiConsumer;
  * <p><strong> x = [x, y, theta, dist_l, dist_r]ᵀ </strong> in the field coordinate system
  * containing x position, y position, heading, left encoder distance, and right encoder distance.
  *
- * <p><strong> u = [v_l, v_r, dtheta]ᵀ </strong> containing left wheel velocity, right wheel
- * velocity, and change in gyro heading.
+ * <p><strong> u = [v_x, v_y, omega]ᵀ </strong> containing x velocity, y velocity, and angular rate
+ * in the field coordinate system.
  *
  * <p>NB: Using velocities make things considerably easier, because it means that teams don't have
  * to worry about getting an accurate model. Basically, we suspect that it's easier for teams to get
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 42a6adb002..d6f10755f2 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
@@ -38,8 +38,8 @@ import java.util.function.BiConsumer;
  * <p><strong> x = [x, y, theta]ᵀ </strong> in the field coordinate system containing x position, y
  * position, and heading.
  *
- * <p><strong> u = [v_l, v_r, dtheta]ᵀ </strong> containing left wheel velocity, right wheel
- * velocity, and change in gyro heading.
+ * <p><strong> u = [v_x, v_y, omega]ᵀ </strong> containing x velocity, y velocity, and angular rate
+ * in the field coordinate system.
  *
  * <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.
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 9e48728909..8782b7bdc2 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
@@ -38,8 +38,8 @@ import java.util.function.BiConsumer;
  * <p><strong> x = [x, y, theta]ᵀ </strong> in the field coordinate system containing x position, y
  * position, and heading.
  *
- * <p><strong> u = [v_l, v_r, dtheta]ᵀ </strong> containing left wheel velocity, right wheel
- * velocity, and change in gyro heading.
+ * <p><strong> u = [v_x, v_y, omega]ᵀ </strong> containing x velocity, y velocity, and angular rate
+ * in the field coordinate system.
  *
  * <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.
diff --git a/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
index b957c1ec79..12810faabd 100644
--- a/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
@@ -38,8 +38,8 @@ namespace frc {
  * system containing x position, y position, heading, left encoder distance,
  * and right encoder distance.
  *
- * <strong> u = [v_l, v_r, dtheta]ᵀ </strong> containing left wheel velocity,
- * right wheel velocity, and change in gyro heading.
+ * <strong> u = [v_x, v_y, omega]ᵀ </strong> containing x velocity, y velocity,
+ * and angular velocity in the field coordinate system.
  *
  * NB: Using velocities make things considerably easier, because it means that
  * teams don't have to worry about getting an accurate model. Basically, we
diff --git a/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
index 93c9f1e42b..e9817efb81 100644
--- a/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
@@ -38,8 +38,8 @@ namespace frc {
  * <strong> x = [x, y, theta]ᵀ </strong> in the field coordinate system
  * containing x position, y position, and heading.
  *
- * <strong> u = [v_l, v_r, dtheta]ᵀ </strong> containing left wheel velocity,
- * right wheel velocity, and change in gyro heading.
+ * <strong> u = [v_x, v_y, omega]ᵀ </strong> containing x velocity, y velocity,
+ * and angular velocity in the field coordinate system.
  *
  * <strong> y = [x, y, theta]ᵀ </strong> from vision containing x position, y
  * position, and heading; or <strong> y = [theta]ᵀ </strong> containing gyro
diff --git a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
index 91e0e50dbe..7422a3c911 100644
--- a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
@@ -40,8 +40,8 @@ namespace frc {
  * <strong> x = [x, y, theta]ᵀ </strong> in the field coordinate system
  * containing x position, y position, and heading.
  *
- * <strong> u = [v_l, v_r, dtheta]ᵀ </strong> containing left wheel velocity,
- * right wheel velocity, and change in gyro heading.
+ * <strong> u = [v_x, v_y, omega]ᵀ </strong> containing x velocity, y velocity,
+ * and angular velocity in the field coordinate system.
  *
  * <strong> y = [x, y, theta]ᵀ </strong> from vision containing x position, y
  * position, and heading; or <strong> y = [theta]ᵀ </strong> containing gyro