diff --git a/subprojects/robotpy-wpimath/gen/controls/ExtendedKalmanFilter.yml b/subprojects/robotpy-wpimath/gen/controls/ExtendedKalmanFilter.yml
index ad331646b..07a80fb08 100644
--- a/subprojects/robotpy-wpimath/gen/controls/ExtendedKalmanFilter.yml
+++ b/subprojects/robotpy-wpimath/gen/controls/ExtendedKalmanFilter.yml
@@ -65,6 +65,13 @@ templates:
     - 2
     - 1
     - 1 
+  ExtendedKalmanFilter_2_1_2:
+    qualname: frc::ExtendedKalmanFilter
+    subpackage: estimator
+    params:
+    - 2
+    - 1
+    - 2
   ExtendedKalmanFilter_2_2_2:
     qualname: frc::ExtendedKalmanFilter
     subpackage: estimator
diff --git a/subprojects/robotpy-wpimath/gen/controls/KalmanFilter.yml b/subprojects/robotpy-wpimath/gen/controls/KalmanFilter.yml
index b5f835ff6..396cd6f7f 100644
--- a/subprojects/robotpy-wpimath/gen/controls/KalmanFilter.yml
+++ b/subprojects/robotpy-wpimath/gen/controls/KalmanFilter.yml
@@ -48,6 +48,13 @@ templates:
     - 2
     - 1
     - 1 
+  KalmanFilter_2_1_2:    
+    qualname: frc::KalmanFilter
+    subpackage: estimator
+    params:
+    - 2
+    - 1
+    - 2
   KalmanFilter_2_2_2:
     qualname: frc::KalmanFilter
     subpackage: estimator
diff --git a/subprojects/robotpy-wpimath/gen/controls/LinearSystemLoop.yml b/subprojects/robotpy-wpimath/gen/controls/LinearSystemLoop.yml
index d0965e579..e7f48743c 100644
--- a/subprojects/robotpy-wpimath/gen/controls/LinearSystemLoop.yml
+++ b/subprojects/robotpy-wpimath/gen/controls/LinearSystemLoop.yml
@@ -70,6 +70,13 @@ templates:
     - 2
     - 1
     - 1 
+  LinearSystemLoop_2_1_2:
+    qualname: frc::LinearSystemLoop
+    subpackage: system
+    params:
+    - 2
+    - 1
+    - 2
   LinearSystemLoop_2_2_2:
     qualname: frc::LinearSystemLoop
     subpackage: system
diff --git a/subprojects/robotpy-wpimath/wpimath/estimator/__init__.py b/subprojects/robotpy-wpimath/wpimath/estimator/__init__.py
index 8dd9e2fa4..e6de6b052 100644
--- a/subprojects/robotpy-wpimath/wpimath/estimator/__init__.py
+++ b/subprojects/robotpy-wpimath/wpimath/estimator/__init__.py
@@ -6,9 +6,11 @@
     DifferentialDrivePoseEstimatorBase,
     ExtendedKalmanFilter_1_1_1,
     ExtendedKalmanFilter_2_1_1,
+    ExtendedKalmanFilter_2_1_2,
     ExtendedKalmanFilter_2_2_2,
     KalmanFilter_1_1_1,
     KalmanFilter_2_1_1,
+    KalmanFilter_2_1_2,
     KalmanFilter_2_2_2,
     KalmanFilter_3_2_3,
     MecanumDrivePoseEstimator,
@@ -40,9 +42,11 @@
     "DifferentialDrivePoseEstimatorBase",
     "ExtendedKalmanFilter_1_1_1",
     "ExtendedKalmanFilter_2_1_1",
+    "ExtendedKalmanFilter_2_1_2",
     "ExtendedKalmanFilter_2_2_2",
     "KalmanFilter_1_1_1",
     "KalmanFilter_2_1_1",
+    "KalmanFilter_2_1_2",
     "KalmanFilter_2_2_2",
     "KalmanFilter_3_2_3",
     "MecanumDrivePoseEstimator",
diff --git a/subprojects/robotpy-wpimath/wpimath/system/__init__.py b/subprojects/robotpy-wpimath/wpimath/system/__init__.py
index db7e1a010..cd78129cb 100644
--- a/subprojects/robotpy-wpimath/wpimath/system/__init__.py
+++ b/subprojects/robotpy-wpimath/wpimath/system/__init__.py
@@ -2,6 +2,7 @@
 from .._controls._controls.system import (
     LinearSystemLoop_1_1_1,
     LinearSystemLoop_2_1_1,
+    LinearSystemLoop_2_1_2,
     LinearSystemLoop_2_2_2,
     LinearSystemLoop_3_2_3,
     LinearSystem_1_1_1,
@@ -21,6 +22,7 @@
 __all__ = [
     "LinearSystemLoop_1_1_1",
     "LinearSystemLoop_2_1_1",
+    "LinearSystemLoop_2_1_2",
     "LinearSystemLoop_2_2_2",
     "LinearSystemLoop_3_2_3",
     "LinearSystem_1_1_1",