diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
index 8a7a63b581..36985e4543 100644
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@@ -160,7 +160,7 @@ bool Ekf::update()
 		_fuse_height = true;
 	}
 
-	// If we are using GPs aiding and data has fallen behind the fusion time horizon then fuse it
+	// If we are using GPS aiding and data has fallen behind the fusion time horizon then fuse it
 	// if we aren't doing any aiding, fake GPS measurements at the last known position to constrain drift
 	// Coincide fake measurements with baro data for efficiency with a minimum fusion rate of 5Hz
 	if (_gps_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_gps_sample_delayed) && _control_status.flags.gps) {
diff --git a/EKF/ekf.h b/EKF/ekf.h
index 3529f8d13b..726d1ffa60 100644
--- a/EKF/ekf.h
+++ b/EKF/ekf.h
@@ -86,7 +86,7 @@ public:
 
 	filter_control_status_u _control_status = {};
 
-	// get the ekf WGS-84 origin positoin and height and the system time it was last set
+	// get the ekf WGS-84 origin position and height and the system time it was last set
 	void get_ekf_origin(uint64_t *origin_time, map_projection_reference_s *origin_pos, float *origin_alt);
 
 private: