diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java
index a3f0017ada..866d062388 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java
@@ -55,6 +55,10 @@ public class LTVDifferentialDriveController {
   /**
    * Constructs a linear time-varying differential drive controller.
    *
+   * <p>See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * for how to select the tolerances.
+   *
    * @param plant The differential drive velocity plant.
    * @param trackwidth The distance between the differential drive's left and right wheels in
    *     meters.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java
index aa248ebd4f..b0a18df6f1 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java
@@ -75,6 +75,10 @@ public class LTVUnicycleController {
   /**
    * Constructs a linear time-varying unicycle controller.
    *
+   * <p>See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * for how to select the tolerances.
+   *
    * @param qelems The maximum desired error tolerance for each state.
    * @param relems The maximum desired control effort for each input.
    * @param dt Discretization timestep in seconds.
@@ -86,6 +90,10 @@ public class LTVUnicycleController {
   /**
    * Constructs a linear time-varying unicycle controller.
    *
+   * <p>See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * for how to select the tolerances.
+   *
    * @param qelems The maximum desired error tolerance for each state.
    * @param relems The maximum desired control effort for each input.
    * @param dt Discretization timestep in seconds.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
index 69ef860b32..658be69317 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
@@ -35,6 +35,10 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
   /**
    * Constructs a controller with the given coefficients and plant. Rho is defaulted to 1.
    *
+   * <p>See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * for how to select the tolerances.
+   *
    * @param plant The plant being controlled.
    * @param qelms The maximum desired error tolerance for each state.
    * @param relms The maximum desired control effort for each input.
@@ -57,6 +61,10 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
   /**
    * Constructs a controller with the given coefficients and plant.
    *
+   * <p>See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * for how to select the tolerances.
+   *
    * @param A Continuous system matrix of the plant being controlled.
    * @param B Continuous input matrix of the plant being controlled.
    * @param qelms The maximum desired error tolerance for each state.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
index 7e5aa6ea55..c69d94b797 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
@@ -59,6 +59,10 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
   /**
    * Constructs an extended Kalman filter.
    *
+   * <p>See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * for how to select the standard deviations.
+   *
    * @param states a Nat representing the number of states.
    * @param inputs a Nat representing the number of inputs.
    * @param outputs a Nat representing the number of outputs.
@@ -93,6 +97,10 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
   /**
    * Constructs an extended Kalman filter.
    *
+   * <p>See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * for how to select the standard deviations.
+   *
    * @param states a Nat representing the number of states.
    * @param inputs a Nat representing the number of inputs.
    * @param outputs a Nat representing the number of outputs.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
index faaacd83f8..08e3270606 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
@@ -43,6 +43,10 @@ public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extend
   /**
    * Constructs a state-space observer with the given plant.
    *
+   * <p>See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * for how to select the standard deviations.
+   *
    * @param states A Nat representing the states of the system.
    * @param outputs A Nat representing the outputs of the system.
    * @param plant The plant used for the prediction step.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java
index a07704c5b4..132faf6d2a 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java
@@ -64,6 +64,10 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
   /**
    * Constructs an Unscented Kalman Filter.
    *
+   * <p>See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * for how to select the standard deviations.
+   *
    * @param states A Nat representing the number of states.
    * @param outputs A Nat representing the number of outputs.
    * @param f A vector-valued function of x and u that returns the derivative of the state vector.
@@ -100,6 +104,10 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
    * custom functions for arithmetic can be useful if you have angles in the state or measurements,
    * because they allow you to correctly account for the modular nature of angle arithmetic.
    *
+   * <p>See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * for how to select the standard deviations.
+   *
    * @param states A Nat representing the number of states.
    * @param outputs A Nat representing the number of outputs.
    * @param f A vector-valued function of x and u that returns the derivative of the state vector.
diff --git a/wpimath/src/main/native/include/frc/controller/LTVDifferentialDriveController.h b/wpimath/src/main/native/include/frc/controller/LTVDifferentialDriveController.h
index 4ecc15468a..7c85350608 100644
--- a/wpimath/src/main/native/include/frc/controller/LTVDifferentialDriveController.h
+++ b/wpimath/src/main/native/include/frc/controller/LTVDifferentialDriveController.h
@@ -35,6 +35,10 @@ class WPILIB_DLLEXPORT LTVDifferentialDriveController {
   /**
    * Constructs a linear time-varying differential drive controller.
    *
+   * See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * for how to select the tolerances.
+   *
    * @param plant      The differential drive velocity plant.
    * @param trackwidth The distance between the differential drive's left and
    *                   right wheels.
diff --git a/wpimath/src/main/native/include/frc/controller/LTVUnicycleController.h b/wpimath/src/main/native/include/frc/controller/LTVUnicycleController.h
index 9647399a58..9ea4606b14 100644
--- a/wpimath/src/main/native/include/frc/controller/LTVUnicycleController.h
+++ b/wpimath/src/main/native/include/frc/controller/LTVUnicycleController.h
@@ -44,6 +44,10 @@ class WPILIB_DLLEXPORT LTVUnicycleController {
   /**
    * Constructs a linear time-varying unicycle controller.
    *
+   * See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * for how to select the tolerances.
+   *
    * @param Qelems The maximum desired error tolerance for each state.
    * @param Relems The maximum desired control effort for each input.
    * @param dt     Discretization timestep.
diff --git a/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h b/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
index 50d65662b9..979e98a371 100644
--- a/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
+++ b/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
@@ -36,6 +36,10 @@ class LinearQuadraticRegulator {
   /**
    * Constructs a controller with the given coefficients and plant.
    *
+   * See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * for how to select the tolerances.
+   *
    * @param plant  The plant being controlled.
    * @param Qelems The maximum desired error tolerance for each state.
    * @param Relems The maximum desired control effort for each input.
@@ -50,6 +54,10 @@ class LinearQuadraticRegulator {
   /**
    * Constructs a controller with the given coefficients and plant.
    *
+   * See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * for how to select the tolerances.
+   *
    * @param A      Continuous system matrix of the plant being controlled.
    * @param B      Continuous input matrix of the plant being controlled.
    * @param Qelems The maximum desired error tolerance for each state.
diff --git a/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h
index b09e8d9d94..0b3450b929 100644
--- a/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h
@@ -52,6 +52,10 @@ class ExtendedKalmanFilter {
   /**
    * Constructs an extended Kalman filter.
    *
+   * See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * for how to select the standard deviations.
+   *
    * @param f                  A vector-valued function of x and u that returns
    *                           the derivative of the state vector.
    * @param h                  A vector-valued function of x and u that returns
@@ -69,6 +73,10 @@ class ExtendedKalmanFilter {
   /**
    * Constructs an extended Kalman filter.
    *
+   * See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * for how to select the standard deviations.
+   *
    * @param f                  A vector-valued function of x and u that returns
    *                           the derivative of the state vector.
    * @param h                  A vector-valued function of x and u that returns
diff --git a/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h
index 2121284550..f143493848 100644
--- a/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h
@@ -46,6 +46,10 @@ class KalmanFilter {
   /**
    * Constructs a state-space observer with the given plant.
    *
+   * See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * for how to select the standard deviations.
+   *
    * @param plant              The plant used for the prediction step.
    * @param stateStdDevs       Standard deviations of model states.
    * @param measurementStdDevs Standard deviations of measurements.
diff --git a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
index 39ce6152ca..fe583e79ef 100644
--- a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
@@ -58,6 +58,10 @@ class UnscentedKalmanFilter {
   /**
    * Constructs an unscented Kalman filter.
    *
+   * See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * for how to select the standard deviations.
+   *
    * @param f                  A vector-valued function of x and u that returns
    *                           the derivative of the state vector.
    * @param h                  A vector-valued function of x and u that returns
@@ -78,6 +82,10 @@ class UnscentedKalmanFilter {
    * you have angles in the state or measurements, because they allow you to
    * correctly account for the modular nature of angle arithmetic.
    *
+   * See
+   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * for how to select the standard deviations.
+   *
    * @param f                  A vector-valued function of x and u that returns
    *                           the derivative of the state vector.
    * @param h                  A vector-valued function of x and u that returns