diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index b8035f9c27..a085c021f2 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -1482,7 +1482,7 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
         ground_speed(0)*100,  // cm/s
         ground_course(0)*100, // 1/100 degrees,
         num_sats(0),
-        height_elipsoid_mm,   // Elipsoid height in mm
+        height_elipsoid_mm,   // Ellipsoid height in mm
         hacc * 1000,          // one-sigma standard deviation in mm
         vacc * 1000,          // one-sigma standard deviation in mm
         sacc * 1000,          // one-sigma standard deviation in mm/s
@@ -1525,7 +1525,7 @@ void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
         state[1].rtk_num_sats,
         state[1].rtk_age_ms,
         gps_yaw_cdeg(1),
-        height_elipsoid_mm,   // Elipsoid height in mm
+        height_elipsoid_mm,   // Ellipsoid height in mm
         hacc * 1000,          // one-sigma standard deviation in mm
         vacc * 1000,          // one-sigma standard deviation in mm
         sacc * 1000,          // one-sigma standard deviation in mm/s
@@ -1703,7 +1703,7 @@ void AP_GPS::Write_AP_Logger_Log_Startup_messages()
  */
 bool AP_GPS::get_lag(uint8_t instance, float &lag_sec) const
 {
-    // always enusre a lag is provided
+    // always ensure a lag is provided
     lag_sec = 0.1f;
 
     if (instance >= GPS_MAX_INSTANCES) {
diff --git a/libraries/AP_GPS/AP_GPS_DroneCAN.cpp b/libraries/AP_GPS/AP_GPS_DroneCAN.cpp
index 52f0cd6c06..2471d39580 100644
--- a/libraries/AP_GPS/AP_GPS_DroneCAN.cpp
+++ b/libraries/AP_GPS/AP_GPS_DroneCAN.cpp
@@ -800,7 +800,7 @@ void AP_GPS_DroneCAN::inject_data(const uint8_t *data, uint16_t len)
 {
     // we only handle this if we are the first DroneCAN GPS or we are
     // using a different uavcan instance than the first GPS, as we
-    // send the data as broadcast on all DroneCAN devive ports and we
+    // send the data as broadcast on all DroneCAN device ports and we
     // don't want to send duplicates
     const uint32_t now_ms = AP_HAL::millis();
     if (_detected_module == 0 ||
diff --git a/libraries/AP_GPS/AP_GPS_NMEA.cpp b/libraries/AP_GPS/AP_GPS_NMEA.cpp
index c47828209f..1712f6754b 100644
--- a/libraries/AP_GPS/AP_GPS_NMEA.cpp
+++ b/libraries/AP_GPS/AP_GPS_NMEA.cpp
@@ -629,7 +629,7 @@ bool AP_GPS_NMEA::_term_complete()
         //
         case _GPS_SENTENCE_RMC + 7: // Speed (GPRMC)
         case _GPS_SENTENCE_VTG + 5: // Speed (VTG)
-            _new_speed = (_parse_decimal_100(_term) * 514) / 1000;       // knots-> m/sec, approximiates * 0.514
+            _new_speed = (_parse_decimal_100(_term) * 514) / 1000;       // knots-> m/sec, approximates * 0.514
             break;
         case _GPS_SENTENCE_HDT + 1: // Course (HDT)
             _new_gps_yaw = _parse_decimal_100(_term);
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
index e0375d654a..343587c68e 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -1102,7 +1102,7 @@ AP_GPS_UBLOX::_parse_gps(void)
                             }
                             if(GNSS_GALILEO ==_buffer.gnss.configBlock[i].gnssId) {
                                 _buffer.gnss.configBlock[i].resTrkCh = (_buffer.gnss.numTrkChHw - 3) / (gnssCount * 2);
-                                _buffer.gnss.configBlock[i].maxTrkCh = 8; //Per the M8 receiver description UBX-13003221 - R16, 4.1.1.3 it is not recommended to set the number of galileo channels higher then eigh
+                                _buffer.gnss.configBlock[i].maxTrkCh = 8; //Per the M8 receiver description UBX-13003221 - R16, 4.1.1.3 it is not recommended to set the number of galileo channels higher then eight
                             }
                         }
                         _buffer.gnss.configBlock[i].flags = _buffer.gnss.configBlock[i].flags | 0x00000001;
diff --git a/libraries/AP_GPS/GPS_Backend.cpp b/libraries/AP_GPS/GPS_Backend.cpp
index 300a3bda79..095bb27366 100644
--- a/libraries/AP_GPS/GPS_Backend.cpp
+++ b/libraries/AP_GPS/GPS_Backend.cpp
@@ -350,14 +350,14 @@ bool AP_GPS_Backend::calculate_moving_base_yaw(AP_GPS::GPS_State &interim_state,
         const float min_dist = MIN(offset_dist, reported_distance);
 
         if (offset_dist < minimum_antenna_seperation) {
-            // offsets have to be sufficently large to get a meaningful angle off of them
+            // offsets have to be sufficiently large to get a meaningful angle off of them
             Debug("Insufficent antenna offset (%f, %f, %f)", (double)offset.x, (double)offset.y, (double)offset.z);
             goto bad_yaw;
         }
 
         if (reported_distance < minimum_antenna_seperation) {
-            // if the reported distance is less then the minimum seperation it's not sufficently robust
-            Debug("Reported baseline distance (%f) was less then the minimum antenna seperation (%f)",
+            // if the reported distance is less then the minimum separation it's not sufficiently robust
+            Debug("Reported baseline distance (%f) was less then the minimum antenna separation (%f)",
                   (double)reported_distance, (double)minimum_antenna_seperation);
             goto bad_yaw;
         }