diff --git a/wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h b/wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h
index 94654ca775..d88b085ad9 100644
--- a/wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h
+++ b/wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h
@@ -51,21 +51,19 @@ class ADXRS450_Gyro : public GyroBase {
   /**
    * Return the actual angle in degrees that the robot is currently facing.
    *
-   * The angle is based on the current accumulator value corrected by the
-   * oversampling rate, the gyro type and the A/D calibration values.
+   * The angle is based on integration of the returned rate from the gyro.
    * The angle is continuous, that is it will continue from 360->361 degrees.
    * This allows algorithms that wouldn't want to see a discontinuity in the
    * gyro output as it sweeps from 360 to 0 on the second time around.
    *
-   * @return the current heading of the robot in degrees. This heading is based
-   *         on integration of the returned rate from the gyro.
+   * @return the current heading of the robot in degrees.
    */
   double GetAngle() const override;
 
   /**
    * Return the rate of rotation of the gyro
    *
-   * The rate is based on the most recent reading of the gyro analog value
+   * The rate is based on the most recent reading of the gyro.
    *
    * @return the current rate in degrees per second
    */
diff --git a/wpilibc/src/main/native/include/frc/interfaces/Gyro.h b/wpilibc/src/main/native/include/frc/interfaces/Gyro.h
index 6154d6d8b3..8c0699352e 100644
--- a/wpilibc/src/main/native/include/frc/interfaces/Gyro.h
+++ b/wpilibc/src/main/native/include/frc/interfaces/Gyro.h
@@ -25,12 +25,10 @@ class Gyro {
   Gyro& operator=(Gyro&&) = default;
 
   /**
-   * Calibrate the gyro by running for a number of samples and computing the
-   * center value. Then use the center value as the Accumulator center value for
-   * subsequent measurements. It's important to make sure that the robot is not
-   * moving while the centering calculations are in progress, this is typically
+   * Calibrate the gyro. It's important to make sure that the robot is not
+   * moving while the calibration is in progress, this is typically
    * done when the robot is first turned on while it's sitting at rest before
-   * the competition starts.
+   * the match starts.
    */
   virtual void Calibrate() = 0;
 
@@ -44,11 +42,9 @@ class Gyro {
   /**
    * Return the heading of the robot in degrees.
    *
-   * The angle is based on the current accumulator value corrected by the
-   * oversampling rate, the gyro type and the A/D calibration values. The angle
-   * is continuous, that is it will continue from 360 to 361 degrees. This
-   * allows algorithms that wouldn't want to see a discontinuity in the gyro
-   * output as it sweeps past from 360 to 0 on the second time around.
+   * The angle is continuous, that is it will continue from 360 to 361 degrees.
+   * This allows algorithms that wouldn't want to see a discontinuity in the
+   * gyro output as it sweeps past from 360 to 0 on the second time around.
    *
    * The angle is expected to increase as the gyro turns clockwise when looked
    * at from the top. It needs to follow the NED axis convention.
@@ -73,11 +69,9 @@ class Gyro {
   /**
    * Return the heading of the robot as a Rotation2d.
    *
-   * The angle is based on the current accumulator value corrected by the
-   * oversampling rate, the gyro type and the A/D calibration values. The angle
-   * is continuous, that is it will continue from 360 to 361 degrees. This
-   * allows algorithms that wouldn't want to see a discontinuity in the gyro
-   * output as it sweeps past from 360 to 0 on the second time around.
+   * The angle is continuous, that is it will continue from 360 to 361 degrees.
+   * This allows algorithms that wouldn't want to see a discontinuity in the
+   * gyro output as it sweeps past from 360 to 0 on the second time around.
    *
    * The angle is expected to increase as the gyro turns counterclockwise when
    * looked at from the top. It needs to follow the NWU axis convention.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
index 2a74d75a42..3bac20f3d6 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
@@ -14,11 +14,9 @@ import edu.wpi.first.wpilibj.geometry.Rotation2d;
  */
 public interface Gyro extends AutoCloseable {
   /**
-   * Calibrate the gyro by running for a number of samples and computing the center value. Then use
-   * the center value as the Accumulator center value for subsequent measurements. It's important to
-   * make sure that the robot is not moving while the centering calculations are in progress, this
-   * is typically done when the robot is first turned on while it's sitting at rest before the
-   * competition starts.
+   * Calibrate the gyro. It's important to make sure that the robot is not moving while the
+   * calibration is in progress, this is typically done when the robot is first turned on while
+   * it's sitting at rest before the match starts.
    */
   void calibrate();
 
@@ -31,10 +29,9 @@ public interface Gyro extends AutoCloseable {
   /**
    * Return the heading of the robot in degrees.
    *
-   * <p>The angle is based on the current accumulator value corrected by the oversampling rate, the
-   * gyro type and the A/D calibration values. The angle is continuous, that is it will continue
-   * from 360 to 361 degrees. This allows algorithms that wouldn't want to see a discontinuity in
-   * the gyro output as it sweeps past from 360 to 0 on the second time around.
+   * <p>The angle is continuous, that is it will continue from 360 to 361 degrees. This allows
+   * algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past
+   * from 360 to 0 on the second time around.
    *
    * <p>The angle is expected to increase as the gyro turns clockwise when looked
    * at from the top. It needs to follow the NED axis convention.
@@ -60,10 +57,9 @@ public interface Gyro extends AutoCloseable {
   /**
    * Return the heading of the robot as a {@link edu.wpi.first.wpilibj.geometry.Rotation2d}.
    *
-   * <p>The angle is based on the current accumulator value corrected by the oversampling rate, the
-   * gyro type and the A/D calibration values. The angle is continuous, that is it will continue
-   * from 360 to 361 degrees. This allows algorithms that wouldn't want to see a discontinuity in
-   * the gyro output as it sweeps past from 360 to 0 on the second time around.
+   * <p>The angle is continuous, that is it will continue from 360 to 361 degrees. This allows
+   * algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past
+   * from 360 to 0 on the second time around.
    *
    * <p>The angle is expected to increase as the gyro turns counterclockwise
    * when looked at from the top. It needs to follow the NWU axis convention.