AP_NavEKF2: fixed typos

libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp

@@ -130,7 +130,7 @@ void NavEKF2_core::FuseAirspeed()
             lastTasPassTime_ms = imuSampleTime_ms;
 
 
-            // zero the attitude error state - by definition it is assumed to be zero before each observaton fusion
+            // zero the attitude error state - by definition it is assumed to be zero before each observation fusion
             stateStruct.angErr.zero();
 
             // correct the state vector
@@ -178,7 +178,7 @@ void NavEKF2_core::FuseAirspeed()
         }
     }
 
-    // force the covariance matrix to me symmetrical and limit the variances to prevent ill-conditioning.
+    // force the covariance matrix to be symmetrical and limit the variances to prevent ill-conditioning.
     ForceSymmetry();
     ConstrainVariances();
 
@@ -244,7 +244,7 @@ void NavEKF2_core::SelectBetaFusion()
 }
 
 /*
- * Fuse sythetic sideslip measurement of zero using explicit algebraic equations generated with Matlab symbolic toolbox.
+ * Fuse synthetic sideslip measurement of zero using explicit algebraic equations generated with Matlab symbolic toolbox.
  * The script file used to generate these and other equations in this filter can be found here:
  * https://github.com/priseborough/InertialNav/blob/master/derivations/RotationVectorAttitudeParameterisation/GenerateNavFilterEquations.m
 */
@@ -378,7 +378,7 @@ void NavEKF2_core::FuseSideslip()
             return;
         }
 
-        // zero the attitude error state - by definition it is assumed to be zero before each observaton fusion
+        // zero the attitude error state - by definition it is assumed to be zero before each observation fusion
         stateStruct.angErr.zero();
 
         // correct the state vector

libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp

@@ -232,7 +232,7 @@ void NavEKF2_core::SelectMagFusion()
     // start performance timer
     hal.util->perf_begin(_perf_FuseMagnetometer);
 
-    // clear the flag that lets other processes know that the expensive magnetometer fusion operation has been perfomred on that time step
+    // clear the flag that lets other processes know that the expensive magnetometer fusion operation has been performed on that time step
     // used for load levelling
     magFusePerformed = false;
 
@@ -717,7 +717,7 @@ void NavEKF2_core::FuseMagnetometer()
         ConstrainVariances();
 
         // update the states
-        // zero the attitude error state - by definition it is assumed to be zero before each observaton fusion
+        // zero the attitude error state - by definition it is assumed to be zero before each observation fusion
         stateStruct.angErr.zero();
 
         // correct the state vector
@@ -821,7 +821,7 @@ void NavEKF2_core::fuseEulerYaw()
             measured_yaw = predicted_yaw;
         }
     } else {
-        // calculate observaton jacobian when we are observing a rotation in a 312 sequence
+        // calculate observation jacobian when we are observing a rotation in a 312 sequence
         float t2 = q0*q0;
         float t3 = q1*q1;
         float t4 = q2*q2;
@@ -964,7 +964,7 @@ void NavEKF2_core::fuseEulerYaw()
         ForceSymmetry();
         ConstrainVariances();
 
-        // zero the attitude error state - by definition it is assumed to be zero before each observaton fusion
+        // zero the attitude error state - by definition it is assumed to be zero before each observation fusion
         stateStruct.angErr.zero();
 
         // correct the state vector
@@ -1094,7 +1094,7 @@ void NavEKF2_core::FuseDeclination(float declErr)
         ForceSymmetry();
         ConstrainVariances();
 
-        // zero the attitude error state - by definition it is assumed to be zero before each observaton fusion
+        // zero the attitude error state - by definition it is assumed to be zero before each observation fusion
         stateStruct.angErr.zero();
 
         // correct the state vector

libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp

@@ -573,7 +573,7 @@ void NavEKF2_core::FuseOptFlow()
             float t61 = R_LOS+t28+t39+t44+t55-t70-t79-t86;
             float t62 = 1.0f/t61;
 
-            // calculate innovation variance for X axis observation and protect against a badly conditioned calculation
+            // calculate innovation variance for Y axis observation and protect against a badly conditioned calculation
             if (t61 > R_LOS) {
                 t62 = 1.0f/t61;
                 faultStatus.bad_yflow = false;
@@ -683,7 +683,7 @@ void NavEKF2_core::FuseOptFlow()
                 ForceSymmetry();
                 ConstrainVariances();
 
-                // zero the attitude error state - by definition it is assumed to be zero before each observaton fusion
+                // zero the attitude error state - by definition it is assumed to be zero before each observation fusion
                 stateStruct.angErr.zero();
 
                 // correct the state vector

libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp

@@ -714,7 +714,7 @@ void NavEKF2_core::FuseVelPosNED()
                     ConstrainVariances();
 
                     // update the states
-                    // zero the attitude error state - by definition it is assumed to be zero before each observaton fusion
+                    // zero the attitude error state - by definition it is assumed to be zero before each observation fusion
                     stateStruct.angErr.zero();
 
                     // calculate state corrections and re-normalise the quaternions for states predicted using the blended IMU data

libraries/AP_NavEKF2/AP_NavEKF2_RngBcnFusion.cpp

@@ -215,7 +215,7 @@ void NavEKF2_core::FuseRngBcn()
                 ConstrainVariances();
 
                 // update the states
-                // zero the attitude error state - by definition it is assumed to be zero before each observaton fusion
+                // zero the attitude error state - by definition it is assumed to be zero before each observation fusion
                 stateStruct.angErr.zero();
 
                 // correct the state vector

libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp

@@ -47,7 +47,7 @@ bool NavEKF2_core::calcGpsGoodToAlign(void)
     // This check can only be used when the vehicle is stationary
     const struct Location &gpsloc = gps.location(); // Current location
     const float posFiltTimeConst = 10.0f; // time constant used to decay position drift
-    // calculate time lapsesd since last update and limit to prevent numerical errors
+    // calculate time lapsed since last update and limit to prevent numerical errors
     float deltaTime = constrain_float(float(imuDataDelayed.time_ms - lastPreAlignGpsCheckTime_ms)*0.001f,0.01f,posFiltTimeConst);
     lastPreAlignGpsCheckTime_ms = imuDataDelayed.time_ms;
     // Sum distance moved

libraries/AP_NavEKF2/AP_NavEKF2_core.h

@@ -618,7 +618,7 @@ private:
     // force alignment of the yaw angle using GPS velocity data
     void realignYawGPS();
 
-    // initialise the earth magnetic field states using declination and current attitude and magnetometer meaasurements
+    // initialise the earth magnetic field states using declination and current attitude and magnetometer measurements
     // and return attitude quaternion
     Quaternion calcQuatAndFieldStates(float roll, float pitch);