diff --git a/wpimath/src/main/native/cpp/controller/BangBangController.cpp b/wpimath/src/main/native/cpp/controller/BangBangController.cpp
index a4fda0a673..4a093d68c1 100644
--- a/wpimath/src/main/native/cpp/controller/BangBangController.cpp
+++ b/wpimath/src/main/native/cpp/controller/BangBangController.cpp
@@ -11,10 +11,7 @@
 using namespace frc;
 
 BangBangController::BangBangController(double tolerance)
-    : m_tolerance(tolerance) {
-  static int instances = 0;
-  instances++;
-}
+    : m_tolerance(tolerance) {}
 
 void BangBangController::SetSetpoint(double setpoint) {
   m_setpoint = setpoint;
diff --git a/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveKinematicsConstraint.cpp b/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveKinematicsConstraint.cpp
index 2a308dbc06..460ff8b5d7 100644
--- a/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveKinematicsConstraint.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveKinematicsConstraint.cpp
@@ -7,9 +7,8 @@
 using namespace frc;
 
 DifferentialDriveKinematicsConstraint::DifferentialDriveKinematicsConstraint(
-    const DifferentialDriveKinematics& kinematics,
-    units::meters_per_second_t maxSpeed)
-    : m_kinematics(kinematics), m_maxSpeed(maxSpeed) {}
+    DifferentialDriveKinematics kinematics, units::meters_per_second_t maxSpeed)
+    : m_kinematics(std::move(kinematics)), m_maxSpeed(maxSpeed) {}
 
 units::meters_per_second_t DifferentialDriveKinematicsConstraint::MaxVelocity(
     const Pose2d& pose, units::curvature_t curvature,
diff --git a/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveVoltageConstraint.cpp b/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveVoltageConstraint.cpp
index d60b4b68f2..46c306e09f 100644
--- a/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveVoltageConstraint.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveVoltageConstraint.cpp
@@ -15,9 +15,9 @@ using namespace frc;
 
 DifferentialDriveVoltageConstraint::DifferentialDriveVoltageConstraint(
     const SimpleMotorFeedforward<units::meter>& feedforward,
-    const DifferentialDriveKinematics& kinematics, units::volt_t maxVoltage)
+    DifferentialDriveKinematics kinematics, units::volt_t maxVoltage)
     : m_feedforward(feedforward),
-      m_kinematics(kinematics),
+      m_kinematics(std::move(kinematics)),
       m_maxVoltage(maxVoltage) {}
 
 units::meters_per_second_t DifferentialDriveVoltageConstraint::MaxVelocity(
diff --git a/wpimath/src/main/native/include/frc/filter/LinearFilter.h b/wpimath/src/main/native/include/frc/filter/LinearFilter.h
index 0fb4f48bbc..858cef6f87 100644
--- a/wpimath/src/main/native/include/frc/filter/LinearFilter.h
+++ b/wpimath/src/main/native/include/frc/filter/LinearFilter.h
@@ -95,7 +95,7 @@ class LinearFilter {
     static int instances = 0;
     instances++;
     wpi::math::MathSharedStore::ReportUsage(
-        wpi::math::MathUsageId::kFilter_Linear, 1);
+        wpi::math::MathUsageId::kFilter_Linear, instances);
   }
 
   /**
diff --git a/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h b/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h
index 0edd8cc432..0d96893189 100644
--- a/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h
+++ b/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h
@@ -20,9 +20,8 @@ namespace frc {
 class WPILIB_DLLEXPORT DifferentialDriveKinematicsConstraint
     : public TrajectoryConstraint {
  public:
-  DifferentialDriveKinematicsConstraint(
-      const DifferentialDriveKinematics& kinematics,
-      units::meters_per_second_t maxSpeed);
+  DifferentialDriveKinematicsConstraint(DifferentialDriveKinematics kinematics,
+                                        units::meters_per_second_t maxSpeed);
 
   units::meters_per_second_t MaxVelocity(
       const Pose2d& pose, units::curvature_t curvature,
diff --git a/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h b/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h
index 40a0d8eff4..8f7ba2ce3f 100644
--- a/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h
+++ b/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h
@@ -34,7 +34,7 @@ class WPILIB_DLLEXPORT DifferentialDriveVoltageConstraint
    */
   DifferentialDriveVoltageConstraint(
       const SimpleMotorFeedforward<units::meter>& feedforward,
-      const DifferentialDriveKinematics& kinematics, units::volt_t maxVoltage);
+      DifferentialDriveKinematics kinematics, units::volt_t maxVoltage);
 
   units::meters_per_second_t MaxVelocity(
       const Pose2d& pose, units::curvature_t curvature,
diff --git a/wpimath/src/test/native/cpp/DARETest.cpp b/wpimath/src/test/native/cpp/DARETest.cpp
index b8665fc36c..d57323354c 100644
--- a/wpimath/src/test/native/cpp/DARETest.cpp
+++ b/wpimath/src/test/native/cpp/DARETest.cpp
@@ -71,6 +71,7 @@ void ExpectDARESolution(const Eigen::Ref<const Eigen::MatrixXd>& A,
   ExpectMatrixEqual(Y, Eigen::MatrixXd::Zero(X.rows(), X.cols()), 1e-10);
 }
 
+// NOLINTNEXTLINE (google-readability-avoid-underscore-in-googletest-name)
 TEST(DARETest, NonInvertibleA_ABQR) {
   // Example 2 of "On the Numerical Solution of the Discrete-Time Algebraic
   // Riccati Equation"
@@ -90,6 +91,7 @@ TEST(DARETest, NonInvertibleA_ABQR) {
   ExpectDARESolution(A, B, Q, R, X);
 }
 
+// NOLINTNEXTLINE (google-readability-avoid-underscore-in-googletest-name)
 TEST(DARETest, NonInvertibleA_ABQRN) {
   // Example 2 of "On the Numerical Solution of the Discrete-Time Algebraic
   // Riccati Equation"
@@ -115,6 +117,7 @@ TEST(DARETest, NonInvertibleA_ABQRN) {
   ExpectDARESolution(A, B, Q, R, N, X);
 }
 
+// NOLINTNEXTLINE (google-readability-avoid-underscore-in-googletest-name)
 TEST(DARETest, InvertibleA_ABQR) {
   Eigen::MatrixXd A{2, 2};
   A << 1, 1, 0, 1;
@@ -131,6 +134,7 @@ TEST(DARETest, InvertibleA_ABQR) {
   ExpectDARESolution(A, B, Q, R, X);
 }
 
+// NOLINTNEXTLINE (google-readability-avoid-underscore-in-googletest-name)
 TEST(DARETest, InvertibleA_ABQRN) {
   Eigen::MatrixXd A{2, 2};
   A << 1, 1, 0, 1;
@@ -153,6 +157,7 @@ TEST(DARETest, InvertibleA_ABQRN) {
   ExpectDARESolution(A, B, Q, R, N, X);
 }
 
+// NOLINTNEXTLINE (google-readability-avoid-underscore-in-googletest-name)
 TEST(DARETest, FirstGeneralizedEigenvalueOfSTIsStable_ABQR) {
   // The first generalized eigenvalue of (S, T) is stable
 
@@ -171,6 +176,7 @@ TEST(DARETest, FirstGeneralizedEigenvalueOfSTIsStable_ABQR) {
   ExpectDARESolution(A, B, Q, R, X);
 }
 
+// NOLINTNEXTLINE (google-readability-avoid-underscore-in-googletest-name)
 TEST(DARETest, FirstGeneralizedEigenvalueOfSTIsStable_ABQRN) {
   // The first generalized eigenvalue of (S, T) is stable
 
@@ -195,6 +201,7 @@ TEST(DARETest, FirstGeneralizedEigenvalueOfSTIsStable_ABQRN) {
   ExpectDARESolution(A, B, Q, R, N, X);
 }
 
+// NOLINTNEXTLINE (google-readability-avoid-underscore-in-googletest-name)
 TEST(DARETest, IdentitySystem_ABQR) {
   const Eigen::MatrixXd A{Eigen::Matrix2d::Identity()};
   const Eigen::MatrixXd B{Eigen::Matrix2d::Identity()};
@@ -207,6 +214,7 @@ TEST(DARETest, IdentitySystem_ABQR) {
   ExpectDARESolution(A, B, Q, R, X);
 }
 
+// NOLINTNEXTLINE (google-readability-avoid-underscore-in-googletest-name)
 TEST(DARETest, IdentitySystem_ABQRN) {
   const Eigen::MatrixXd A{Eigen::Matrix2d::Identity()};
   const Eigen::MatrixXd B{Eigen::Matrix2d::Identity()};