diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilter.java
index d4a142ea7f..146fbbe64e 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilter.java
@@ -363,10 +363,10 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
    * @param R Measurement noise covariance matrix.
    * @param meanFuncY A function that computes the mean of 2 * States + 1 measurement vectors using
    *     a given set of weights.
-   * @param residualFuncX A function that computes the residual of two state vectors (i.e. it
-   *     subtracts them.)
    * @param residualFuncY A function that computes the residual of two measurement vectors (i.e. it
    *     subtracts them.)
+   * @param residualFuncX A function that computes the residual of two state vectors (i.e. it
+   *     subtracts them.)
    * @param addFuncX A function that adds two state vectors.
    */
   @SuppressWarnings({"ParameterName", "LocalVariableName"})
diff --git a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
index b5c1e51899..71eac27221 100644
--- a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
@@ -293,10 +293,10 @@ class UnscentedKalmanFilter {
    * @param R             Measurement noise covariance matrix.
    * @param meanFuncY     A function that computes the mean of 2 * States + 1
    *                      measurement vectors using a given set of weights.
-   * @param residualFuncX A function that computes the residual of two state
-   *                      vectors (i.e. it subtracts them.)
    * @param residualFuncY A function that computes the residual of two
    *                      measurement vectors (i.e. it subtracts them.)
+   * @param residualFuncX A function that computes the residual of two state
+   *                      vectors (i.e. it subtracts them.)
    * @param addFuncX      A function that adds two state vectors.
    */
   template <int Rows>