Copter: formatting fixes

ArduCopter/mode_auto.cpp

@@ -999,11 +999,11 @@ void Copter::ModeAuto::payload_place_run()
 
 bool Copter::ModeAuto::payload_place_run_should_run()
 {
-    // muts be armed
+    // must be armed
     if (!motors->armed()) {
         return false;
     }
-    // muts be auto-armed
+    // must be auto-armed
     if (!ap.auto_armed) {
         return false;
     }

ArduCopter/mode_brake.cpp

@@ -52,8 +52,6 @@ void Copter::ModeBrake::run()
     // call attitude controller
     attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), 0.0f);
 
-    // body-frame rate controller is run directly from 100hz loop
-
     // update altitude target and call position controller
     // protects heli's from inflight motor interlock disable
     if (motors->get_desired_spool_state() == AP_Motors::DESIRED_GROUND_IDLE && !ap.land_complete) {

ArduCopter/mode_drift.cpp

@@ -52,7 +52,7 @@ void Copter::ModeDrift::run()
     float roll_vel =  vel.y * ahrs.cos_yaw() - vel.x * ahrs.sin_yaw(); // body roll vel
     float pitch_vel = vel.y * ahrs.sin_yaw() + vel.x * ahrs.cos_yaw(); // body pitch vel
 
-    // gain sceduling for Yaw
+    // gain scheduling for yaw
     float pitch_vel2 = MIN(fabsf(pitch_vel), 2000);
     float target_yaw_rate = ((float)target_roll/1.0f) * (1.0f - (pitch_vel2 / 5000.0f)) * g.acro_yaw_p;
 
@@ -64,7 +64,7 @@ void Copter::ModeDrift::run()
     // convert user input into desired roll velocity
     float roll_vel_error = roll_vel - (roll_input / DRIFT_SPEEDGAIN);
 
-    // Roll velocity is feed into roll acceleration to minimize slip
+    // roll velocity is feed into roll acceleration to minimize slip
     target_roll = roll_vel_error * -DRIFT_SPEEDGAIN;
     target_roll = constrain_float(target_roll, -4500.0f, 4500.0f);
 

ArduCopter/mode_flowhold.cpp

@@ -226,7 +226,7 @@ void Copter::ModeFlowHold::run()
     copter.pos_control->set_max_accel_z(copter.g.pilot_accel_z);
 
     // apply SIMPLE mode transform to pilot inputs
-    copter.update_simple_mode();
+    update_simple_mode();
 
     // check for filter change
     if (!is_equal(flow_filter.get_cutoff_freq(), flow_filter_hz.get())) {

ArduCopter/mode_stabilize.cpp

@@ -46,8 +46,6 @@ void Copter::ModeStabilize::run()
     // call attitude controller
     attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
 
-    // body-frame rate controller is run directly from 100hz loop
-
     // output pilot's throttle
     attitude_control->set_throttle_out(get_pilot_desired_throttle(),
                                        true,