diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index 14af1259d2..e0ec550bac 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -1141,7 +1141,7 @@ void NavEKF3_core::CovariancePrediction(Vector3f *rotVarVecPtr)
             const bool is_bias_observable = (fabsf(prevTnb[index][2]) > 0.8f) && onGround;
 
             if (!is_bias_observable && !dvelBiasAxisInhibit[index]) {
-                // store variances to be reinstated wben learnign can commence later
+                // store variances to be reinstated wben learning can commence later
                 dvelBiasAxisVarPrev[index] = P[stateIndex][stateIndex];
                 dvelBiasAxisInhibit[index] = true;
             } else if (is_bias_observable && dvelBiasAxisInhibit[index]) {
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index 3b31ef0699..f62822321e 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -1326,7 +1326,7 @@ private:
 
 	// variables used to inhibit accel bias learning
     bool inhibitDelVelBiasStates;       // true when all IMU delta velocity bias states are de-activated
-	bool dvelBiasAxisInhibit[3] {};		// true when IMU delta velocity bias states for a specific axis is de-activated
+    bool dvelBiasAxisInhibit[3] {};		// true when IMU delta velocity bias states for a specific axis is de-activated
 	Vector3f dvelBiasAxisVarPrev;		// saved delta velocity XYZ bias variances (m/sec)**2
 
 #if EK3_FEATURE_EXTERNAL_NAV