diff --git a/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp b/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
index 8c1ffff6e0..f88d059703 100644
--- a/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
+++ b/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
@@ -99,10 +99,10 @@ void AnalysisManager::PrepareGeneralData() {
   wpi::StringMap<std::vector<PreparedData>> preparedData;
 
   // Store the raw data columns.
-  static constexpr size_t kTimeCol = 0;
-  static constexpr size_t kVoltageCol = 1;
-  static constexpr size_t kPosCol = 2;
-  static constexpr size_t kVelCol = 3;
+  constexpr size_t kTimeCol = 0;
+  constexpr size_t kVoltageCol = 1;
+  constexpr size_t kPosCol = 2;
+  constexpr size_t kVelCol = 3;
 
   WPI_INFO(m_logger, "{}", "Reading JSON data.");
   // Get the major components from the JSON and store them inside a StringMap.
@@ -176,15 +176,15 @@ void AnalysisManager::PrepareAngularDrivetrainData() {
   wpi::StringMap<std::vector<PreparedData>> preparedData;
 
   // Store the relevant raw data columns.
-  static constexpr size_t kTimeCol = 0;
-  static constexpr size_t kLVoltageCol = 1;
-  static constexpr size_t kRVoltageCol = 2;
-  static constexpr size_t kLPosCol = 3;
-  static constexpr size_t kRPosCol = 4;
-  static constexpr size_t kLVelCol = 5;
-  static constexpr size_t kRVelCol = 6;
-  static constexpr size_t kAngleCol = 7;
-  static constexpr size_t kAngularRateCol = 8;
+  constexpr size_t kTimeCol = 0;
+  constexpr size_t kLVoltageCol = 1;
+  constexpr size_t kRVoltageCol = 2;
+  constexpr size_t kLPosCol = 3;
+  constexpr size_t kRPosCol = 4;
+  constexpr size_t kLVelCol = 5;
+  constexpr size_t kRVelCol = 6;
+  constexpr size_t kAngleCol = 7;
+  constexpr size_t kAngularRateCol = 8;
 
   WPI_INFO(m_logger, "{}", "Reading JSON data.");
   // Get the major components from the JSON and store them inside a StringMap.
@@ -293,13 +293,13 @@ void AnalysisManager::PrepareLinearDrivetrainData() {
   wpi::StringMap<std::vector<PreparedData>> preparedData;
 
   // Store the relevant raw data columns.
-  static constexpr size_t kTimeCol = 0;
-  static constexpr size_t kLVoltageCol = 1;
-  static constexpr size_t kRVoltageCol = 2;
-  static constexpr size_t kLPosCol = 3;
-  static constexpr size_t kRPosCol = 4;
-  static constexpr size_t kLVelCol = 5;
-  static constexpr size_t kRVelCol = 6;
+  constexpr size_t kTimeCol = 0;
+  constexpr size_t kLVoltageCol = 1;
+  constexpr size_t kRVoltageCol = 2;
+  constexpr size_t kLPosCol = 3;
+  constexpr size_t kRPosCol = 4;
+  constexpr size_t kLVelCol = 5;
+  constexpr size_t kRVelCol = 6;
 
   // Get the major components from the JSON and store them inside a StringMap.
   WPI_INFO(m_logger, "{}", "Reading JSON data.");
diff --git a/sysid/src/main/native/cpp/analysis/JSONConverter.cpp b/sysid/src/main/native/cpp/analysis/JSONConverter.cpp
index 5060679d98..9a5505f4f3 100644
--- a/sysid/src/main/native/cpp/analysis/JSONConverter.cpp
+++ b/sysid/src/main/native/cpp/analysis/JSONConverter.cpp
@@ -20,17 +20,17 @@
 #include "sysid/analysis/AnalysisType.h"
 
 // Sizes of the arrays for new sysid data.
-static constexpr size_t kDrivetrainSize = 9;
-static constexpr size_t kGeneralSize = 4;
+inline constexpr size_t kDrivetrainSize = 9;
+inline constexpr size_t kGeneralSize = 4;
 
 // Indices for the old data.
-static constexpr size_t kTimestampCol = 0;
-static constexpr size_t kLVoltsCol = 3;
-static constexpr size_t kRVoltsCol = 4;
-static constexpr size_t kLPosCol = 5;
-static constexpr size_t kRPosCol = 6;
-static constexpr size_t kLVelCol = 7;
-static constexpr size_t kRVelCol = 8;
+inline constexpr size_t kTimestampCol = 0;
+inline constexpr size_t kLVoltsCol = 3;
+inline constexpr size_t kRVoltsCol = 4;
+inline constexpr size_t kLPosCol = 5;
+inline constexpr size_t kRPosCol = 6;
+inline constexpr size_t kLVelCol = 7;
+inline constexpr size_t kRVelCol = 8;
 
 static wpi::json GetJSON(std::string_view path, wpi::Logger& logger) {
   std::error_code ec;
diff --git a/sysid/src/main/native/include/sysid/Util.h b/sysid/src/main/native/include/sysid/Util.h
index 38cf8b2e42..1b8ede9c7d 100644
--- a/sysid/src/main/native/include/sysid/Util.h
+++ b/sysid/src/main/native/include/sysid/Util.h
@@ -34,7 +34,7 @@
 #define STRINGIZE(s) #s
 
 namespace sysid {
-static constexpr const char* kUnits[] = {"Meters",  "Feet",      "Inches",
+inline constexpr const char* kUnits[] = {"Meters",  "Feet",      "Inches",
                                          "Radians", "Rotations", "Degrees"};
 
 /**
diff --git a/sysid/src/main/native/include/sysid/analysis/AnalysisType.h b/sysid/src/main/native/include/sysid/analysis/AnalysisType.h
index 7feedb3f51..64ef9f6f8f 100644
--- a/sysid/src/main/native/include/sysid/analysis/AnalysisType.h
+++ b/sysid/src/main/native/include/sysid/analysis/AnalysisType.h
@@ -52,11 +52,11 @@ struct AnalysisType {
 };
 
 namespace analysis {
-constexpr AnalysisType kDrivetrain{3, 9, "Drivetrain"};
-constexpr AnalysisType kDrivetrainAngular{3, 9, "Drivetrain (Angular)"};
-constexpr AnalysisType kElevator{4, 4, "Elevator"};
-constexpr AnalysisType kArm{5, 4, "Arm"};
-constexpr AnalysisType kSimple{3, 4, "Simple"};
+inline constexpr AnalysisType kDrivetrain{3, 9, "Drivetrain"};
+inline constexpr AnalysisType kDrivetrainAngular{3, 9, "Drivetrain (Angular)"};
+inline constexpr AnalysisType kElevator{4, 4, "Elevator"};
+inline constexpr AnalysisType kArm{5, 4, "Arm"};
+inline constexpr AnalysisType kSimple{3, 4, "Simple"};
 
 AnalysisType FromName(std::string_view name);
 }  // namespace analysis
diff --git a/sysid/src/main/native/include/sysid/analysis/FeedbackControllerPreset.h b/sysid/src/main/native/include/sysid/analysis/FeedbackControllerPreset.h
index 4b13c6c38f..d946c48f75 100644
--- a/sysid/src/main/native/include/sysid/analysis/FeedbackControllerPreset.h
+++ b/sysid/src/main/native/include/sysid/analysis/FeedbackControllerPreset.h
@@ -71,11 +71,11 @@ struct FeedbackControllerPreset {
 enum class FeedbackControllerLoopType { kPosition, kVelocity };
 
 namespace presets {
-constexpr FeedbackControllerPreset kDefault{1.0, 1.0, 20_ms, true, 0_s};
+inline constexpr FeedbackControllerPreset kDefault{1.0, 1.0, 20_ms, true, 0_s};
 
-constexpr FeedbackControllerPreset kWPILibNew{kDefault};
-constexpr FeedbackControllerPreset kWPILibOld{1.0 / 12.0, 1.0, 50_ms, false,
-                                              0_s};
+inline constexpr FeedbackControllerPreset kWPILibNew{kDefault};
+inline constexpr FeedbackControllerPreset kWPILibOld{1.0 / 12.0, 1.0, 50_ms,
+                                                     false, 0_s};
 
 // Measurement delay from a moving average filter:
 //
@@ -117,10 +117,10 @@ constexpr FeedbackControllerPreset kWPILibOld{1.0 / 12.0, 1.0, 50_ms, false,
  *
  * Total delay = 50 ms + 31.5 ms = 81.5 ms.
  */
-constexpr FeedbackControllerPreset kCTRECANCoder{1.0 / 12.0, 60.0, 1_ms, true,
-                                                 81.5_ms};
-constexpr FeedbackControllerPreset kCTREDefault{1023.0 / 12.0, 0.1, 1_ms, false,
-                                                81.5_ms};
+inline constexpr FeedbackControllerPreset kCTRECANCoder{1.0 / 12.0, 60.0, 1_ms,
+                                                        true, 81.5_ms};
+inline constexpr FeedbackControllerPreset kCTREDefault{1023.0 / 12.0, 0.1, 1_ms,
+                                                       false, 81.5_ms};
 /**
  * https://api.ctr-electronics.com/phoenixpro/release/cpp/classctre_1_1phoenixpro_1_1hardware_1_1core_1_1_core_c_a_ncoder.html#a718a1a214b58d3c4543e88e3cb51ade5
  *
@@ -129,7 +129,8 @@ constexpr FeedbackControllerPreset kCTREDefault{1023.0 / 12.0, 0.1, 1_ms, false,
  * Pro devices make use of Kalman filters default-tuned to lowest latency, which
  * in testing is roughly 1 millisecond
  */
-constexpr FeedbackControllerPreset kCTREProDefault{1.0, 1.0, 1_ms, true, 1_ms};
+inline constexpr FeedbackControllerPreset kCTREProDefault{1.0, 1.0, 1_ms, true,
+                                                          1_ms};
 
 /**
  * https://github.com/wpilibsuite/sysid/issues/258#issuecomment-1010658237
@@ -138,8 +139,8 @@ constexpr FeedbackControllerPreset kCTREProDefault{1.0, 1.0, 1_ms, true, 1_ms};
  *
  * Total delay = 8-tap moving average delay = (8 - 1) / 2 * 32 ms = 112 ms.
  */
-constexpr FeedbackControllerPreset kREVNEOBuiltIn{1.0 / 12.0, 60.0, 1_ms, false,
-                                                  112_ms};
+inline constexpr FeedbackControllerPreset kREVNEOBuiltIn{1.0 / 12.0, 60.0, 1_ms,
+                                                         false, 112_ms};
 
 /**
  * https://www.revrobotics.com/content/sw/max/sw-docs/cpp/classrev_1_1_c_a_n_encoder.html#a7e6ce792bc0c0558fb944771df572e6a
@@ -150,15 +151,15 @@ constexpr FeedbackControllerPreset kREVNEOBuiltIn{1.0 / 12.0, 60.0, 1_ms, false,
  *
  * Total delay = 50 ms + 31.5 ms = 81.5 ms.
  */
-constexpr FeedbackControllerPreset kREVNonNEO{1.0 / 12.0, 60.0, 1_ms, false,
-                                              81.5_ms};
+inline constexpr FeedbackControllerPreset kREVNonNEO{1.0 / 12.0, 60.0, 1_ms,
+                                                     false, 81.5_ms};
 
 /**
  * https://github.com/wpilibsuite/sysid/pull/138#issuecomment-841734229
  *
  * Backward finite difference delay = 10 ms / 2 = 5 ms.
  */
-constexpr FeedbackControllerPreset kVenom{4096.0 / 12.0, 60.0, 1_ms, false,
-                                          5_ms};
+inline constexpr FeedbackControllerPreset kVenom{4096.0 / 12.0, 60.0, 1_ms,
+                                                 false, 5_ms};
 }  // namespace presets
 }  // namespace sysid
diff --git a/sysid/src/test/native/cpp/analysis/FeedforwardAnalysisTest.cpp b/sysid/src/test/native/cpp/analysis/FeedforwardAnalysisTest.cpp
index 7a087d85b7..27f7fa686e 100644
--- a/sysid/src/test/native/cpp/analysis/FeedforwardAnalysisTest.cpp
+++ b/sysid/src/test/native/cpp/analysis/FeedforwardAnalysisTest.cpp
@@ -28,7 +28,7 @@ enum Movements : uint32_t {
   kFastBackward
 };
 
-constexpr int kMovementCombinations = 16;
+inline constexpr int kMovementCombinations = 16;
 
 /**
  * Return simulated test data for a given simulation model.