diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
index d6f10755f2..b8fc4f6266 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
@@ -67,9 +67,9 @@ public class MecanumDrivePoseEstimator {
    * @param stateStdDevs Standard deviations of model states. Increase these numbers to trust your
    *     model's state estimates less. This matrix is in the form [x, y, theta]ᵀ, with units in
    *     meters and radians.
-   * @param localMeasurementStdDevs Standard deviations of the encoder and gyro measurements.
-   *     Increase these numbers to trust sensor readings from encoders and gyros less. This matrix
-   *     is in the form [theta], with units in radians.
+   * @param localMeasurementStdDevs Standard deviation of the gyro measurement. Increase this number
+   *     to trust sensor readings from the gyro less. This matrix is in the form [theta], with units
+   *     in radians.
    * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase these
    *     numbers to trust global measurements from vision less. This matrix is in the form [x, y,
    *     theta]ᵀ, with units in meters and radians.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
index 66b0075687..c62fbe1940 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
@@ -67,9 +67,9 @@ public class SwerveDrivePoseEstimator {
    * @param stateStdDevs Standard deviations of model states. Increase these numbers to trust your
    *     model's state estimates less. This matrix is in the form [x, y, theta]ᵀ, with units in
    *     meters and radians.
-   * @param localMeasurementStdDevs Standard deviations of the encoder and gyro measurements.
-   *     Increase these numbers to trust sensor readings from encoders and gyros less. This matrix
-   *     is in the form [theta], with units in radians.
+   * @param localMeasurementStdDevs Standard deviation of the gyro measurement. Increase this number
+   *     to trust sensor readings from the gyro less. This matrix is in the form [theta], with units
+   *     in radians.
    * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase these
    *     numbers to trust global measurements from vision less. This matrix is in the form [x, y,
    *     theta]ᵀ, with units in meters and radians.
diff --git a/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
index e9817efb81..0b10ba6224 100644
--- a/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
@@ -59,11 +59,10 @@ class WPILIB_DLLEXPORT MecanumDrivePoseEstimator {
    *                                 model's state estimates less. This matrix
    *                                 is in the form [x, y, theta]ᵀ, with units
    *                                 in meters and radians.
-   * @param localMeasurementStdDevs  Standard deviations of the encoder and gyro
-   *                                 measurements. Increase these numbers to
-   *                                 trust sensor readings from encoders
-   *                                 and gyros less. This matrix is in the form
-   *                                 [theta], with units in radians.
+   * @param localMeasurementStdDevs  Standard deviation of the gyro measurement.
+   *                                 Increase this number to trust sensor
+   *                                 readings from the gyro less. This matrix is
+   *                                 in the form [theta], with units in radians.
    * @param visionMeasurementStdDevs Standard deviations of the vision
    *                                 measurements. Increase these numbers to
    *                                 trust global measurements from vision
diff --git a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
index 60cfcb1445..4536a2060c 100644
--- a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
@@ -62,11 +62,10 @@ class SwerveDrivePoseEstimator {
    *                                 model's state estimates less. This matrix
    *                                 is in the form [x, y, theta]ᵀ, with units
    *                                 in meters and radians.
-   * @param localMeasurementStdDevs  Standard deviations of the encoder and gyro
-   *                                 measurements. Increase these numbers to
-   *                                 trust sensor readings from encoders
-   *                                 and gyros less. This matrix is in the form
-   *                                 [theta], with units in radians.
+   * @param localMeasurementStdDevs  Standard deviation of the gyro measurement.
+   *                                 Increase this number to trust sensor
+   *                                 readings from the gyro less. This matrix is
+   *                                 in the form [theta], with units in radians.
    * @param visionMeasurementStdDevs Standard deviations of the vision
    *                                 measurements. Increase these numbers to
    *                                 trust global measurements from vision