diff --git a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
index 88bb5dc90a..de74891849 100644
--- a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
+++ b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
@@ -668,7 +668,7 @@ void ADIS16448_IMU::Acquire() {
           // Store timestamp for next iteration
           previous_timestamp = buffer[i];
           // Calculate alpha for use with the complementary filter
-          m_alpha = 0.5 / (0.5 + m_dt);
+          m_alpha = kTau / (kTau + m_dt);
           // Run inclinometer calculations
           double accelAngleX = atan2f(
               -accel_x_si,
diff --git a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
index 1ff56d27b8..3172bd803b 100644
--- a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
+++ b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
@@ -695,7 +695,7 @@ void ADIS16470_IMU::Acquire() {
         // Store timestamp for next iteration
         previous_timestamp = buffer[i];
 
-        m_alpha = 1.0 / (1.0 + m_dt);
+        m_alpha = kTau / (kTau + m_dt);
 
         // Run inclinometer calculations
         double accelAngleX = atan2f(
diff --git a/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h b/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h
index 44b17d7ec5..fc4a844ef2 100644
--- a/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h
+++ b/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h
@@ -383,6 +383,7 @@ class ADIS16448_IMU : public wpi::Sendable,
 
   // Complementary filter variables
   double m_dt, m_alpha = 0.0;
+  static constexpr double kTau = 0.5;
   double m_compAngleX, m_compAngleY, m_accelAngleX, m_accelAngleY = 0.0;
 
   // vector for storing most recent imu values
diff --git a/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h b/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
index bdb164fd90..6ab2c1871c 100644
--- a/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
+++ b/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
@@ -490,6 +490,7 @@ class ADIS16470_IMU : public wpi::Sendable,
 
   // Complementary filter variables
   double m_dt, m_alpha = 0.0;
+  static constexpr double kTau = 1.0;
   double m_compAngleX, m_compAngleY, m_accelAngleX, m_accelAngleY = 0.0;
 
   // Complementary filter functions
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
index 8eeae4a279..a6544eda67 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
@@ -156,6 +156,7 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   // Complementary filter variables
   private double m_dt = 0.0;
   private double m_alpha = 0.0;
+  private static final double kTau = 1.0;
   private double m_compAngleX = 0.0;
   private double m_compAngleY = 0.0;
   private double m_accelAngleX = 0.0;
@@ -757,7 +758,7 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
             // Store timestamp for next iteration
             previous_timestamp = buffer[i];
             // Calculate alpha for use with the complementary filter
-            m_alpha = 1.0 / (1.0 + m_dt);
+            m_alpha = kTau / (kTau + m_dt);
             // Run inclinometer calculations
             double accelAngleX =
                 Math.atan2(
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
index 337c0f2370..14a5630c2f 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
@@ -205,6 +205,7 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
   // Complementary filter variables
   private double m_dt = 0.0;
   private double m_alpha = 0.0;
+  private static final double kTau = 1.0;
   private double m_compAngleX = 0.0;
   private double m_compAngleY = 0.0;
   private double m_accelAngleX = 0.0;
@@ -743,7 +744,7 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
           // Store timestamp for next iteration
           previous_timestamp = buffer[i];
 
-          m_alpha = 1.0 / (1.0 + m_dt);
+          m_alpha = kTau / (kTau + m_dt);
 
           // Run inclinometer calculations
           double accelAngleX =