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 6702142ac2..46b55aa2c5 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
@@ -36,8 +36,7 @@ import java.util.Objects;
  * <p>The state-space system used internally has the following states (x) and outputs (y):
  *
  * <p><strong> x = [x, y, theta]ᵀ </strong> in the field coordinate system containing x position, y
- * position, and heading, followed by the distance driven by the front left, front right, rear left,
- * and rear right wheels.
+ * position, and heading.
  *
  * <p><strong> y = [x, y, theta]ᵀ </strong> from vision containing x position, y position, and
  * heading.
diff --git a/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
index b74d2bb841..31ba550855 100644
--- a/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
@@ -79,7 +79,7 @@ class WPILIB_DLLEXPORT DifferentialDrivePoseEstimator {
    *                                 Increase these numbers to trust your
    *                                 model's state estimates less. This matrix
    *                                 is in the form
-   *                                 [x, y, theta, dist_l, dist_r]ᵀ,
+   *                                 [x, y, theta]ᵀ,
    *                                 with units in meters and radians.
    * @param visionMeasurementStdDevs Standard deviations of the vision
    *                                 measurements. Increase these numbers to