More spelling stuff

libraries/AP_Gripper/AP_Gripper.cpp

@@ -51,7 +51,7 @@ const AP_Param::GroupInfo AP_Gripper::var_info[] = {
     // @DisplayName: Gripper Regrab interval
     // @Description: Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable
     // @User: Advanced
-    // @Values: 0 255
+    // @Range: 0 255
     // @Units: seconds
     AP_GROUPINFO("REGRAB",  5, AP_Gripper, config.regrab_interval, GRIPPER_REGRAB_DEFAULT),
 

libraries/AP_NavEKF2/AP_NavEKF2.cpp

@@ -485,7 +485,7 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
 
     // @Param: TERR_GRAD
     // @DisplayName: Maximum terrain gradient
-    // @Description: Specifies the maxium gradient of the terrain below the vehicle when it is using range finder as a height reference
+    // @Description: Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference
     // @Range: 0 0.2
     // @Increment: 0.01
     // @User: Advanced

libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp

@@ -717,10 +717,10 @@ void NavEKF2_core::FuseMagnetometer()
  * Fuse magnetic heading measurement 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
- * This fusion method only modifies the orientation, does not require use of the magnetic field states and is computatonally cheaper.
+ * This fusion method only modifies the orientation, does not require use of the magnetic field states and is computationally cheaper.
  * It is suitable for use when the external magnetic field environment is disturbed (eg close to metal structures, on ground).
- * It is not as robust to magneometer failures.
- * It is not suitable for operation where the horizontal magnetic field strength is weak (within 30 degreees latitude of the the magnetic poles)
+ * It is not as robust to magnetometer failures.
+ * It is not suitable for operation where the horizontal magnetic field strength is weak (within 30 degrees latitude of the the magnetic poles)
 */
 void NavEKF2_core::fuseEulerYaw()
 {

libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp

@@ -1,3 +1,5 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
 #include <AP_HAL/AP_HAL.h>
 
 #if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
@@ -195,7 +197,7 @@ void NavEKF2_core::ResetHeight(void)
 bool NavEKF2_core::resetHeightDatum(void)
 {
     if (activeHgtSource == HGT_SOURCE_RNG) {
-        // by definition the height dataum is at ground level so cannot perform the reset
+        // by definition the height datum is at ground level so cannot perform the reset
         return false;
     }
     // record the old height estimate
@@ -204,7 +206,7 @@ bool NavEKF2_core::resetHeightDatum(void)
     frontend->_baro.update_calibration();
     // reset the height state
     stateStruct.position.z = 0.0f;
-    // adjust the height of the EKF origin so that the origin plus baro height before and afer the reset is the same
+    // adjust the height of the EKF origin so that the origin plus baro height before and after the reset is the same
     if (validOrigin) {
         EKF_origin.alt += oldHgt*100;
     }

libraries/AP_NavEKF3/AP_NavEKF3.cpp

@@ -475,7 +475,7 @@ const AP_Param::GroupInfo NavEKF3::var_info[] = {
 
     // @Param: TERR_GRAD
     // @DisplayName: Maximum terrain gradient
-    // @Description: Specifies the maxium gradient of the terrain below the vehicle when it is using range finder as a height reference
+    // @Description: Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference
     // @Range: 0 0.2
     // @Increment: 0.01
     // @User: Advanced
@@ -518,7 +518,7 @@ const AP_Param::GroupInfo NavEKF3::var_info[] = {
 
     // @Param: ACC_BIAS_LIM
     // @DisplayName: Accelerometer bias limit
-    // @Description: The accelerometer bias state will be limited to +- this vlaue
+    // @Description: The accelerometer bias state will be limited to +- this value
     // @Range: 0.5 2.5
     // @Increment: 0.1
     // @User: Advanced
@@ -796,7 +796,7 @@ void NavEKF3::getVelNED(int8_t instance, Vector3f &vel)
     }
 }
 
-// Return the rate of change of vertical position in the down diection (dPosD/dt) in m/s
+// Return the rate of change of vertical position in the down direction (dPosD/dt) in m/s
 float NavEKF3::getPosDownDerivative(int8_t instance)
 {
     if (instance < 0 || instance >= num_cores) instance = primary;
@@ -976,7 +976,7 @@ bool NavEKF3::getOriginLLH(struct Location &loc) const
 }
 
 // set the latitude and longitude and height used to set the NED origin
-// All NED positions calcualted by the filter will be relative to this location
+// All NED positions calculated by the filter will be relative to this location
 // The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
 // Returns false if the filter has rejected the attempt to set the origin
 bool NavEKF3::setOriginLLH(struct Location &loc)

libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp

@@ -702,10 +702,10 @@ void NavEKF3_core::FuseMagnetometer()
  * Fuse magnetic heading measurement 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
- * This fusion method only modifies the orientation, does not require use of the magnetic field states and is computatonally cheaper.
+ * This fusion method only modifies the orientation, does not require use of the magnetic field states and is computationally cheaper.
  * It is suitable for use when the external magnetic field environment is disturbed (eg close to metal structures, on ground).
- * It is not as robust to magneometer failures.
- * It is not suitable for operation where the horizontal magnetic field strength is weak (within 30 degreees latitude of the the magnetic poles)
+ * It is not as robust to magnetometer failures.
+ * It is not suitable for operation where the horizontal magnetic field strength is weak (within 30 degrees latitude of the the magnetic poles)
 */
 void NavEKF3_core::fuseEulerYaw()
 {

libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp

@@ -197,7 +197,7 @@ void NavEKF3_core::ResetHeight(void)
 bool NavEKF3_core::resetHeightDatum(void)
 {
     if (activeHgtSource == HGT_SOURCE_RNG) {
-        // by definition the height dataum is at ground level so cannot perform the reset
+        // by definition the height datum is at ground level so cannot perform the reset
         return false;
     }
     // record the old height estimate
@@ -206,7 +206,7 @@ bool NavEKF3_core::resetHeightDatum(void)
     frontend->_baro.update_calibration();
     // reset the height state
     stateStruct.position.z = 0.0f;
-    // adjust the height of the EKF origin so that the origin plus baro height before and afer the reset is the same
+    // adjust the height of the EKF origin so that the origin plus baro height before and after the reset is the same
     if (validOrigin) {
         EKF_origin.alt += oldHgt*100;
     }