AP_Math: Fix typos

libraries/AP_Math/AP_Math.cpp

@@ -152,7 +152,7 @@ template float wrap_2PI<double>(const double radian);
 template <class T>
 T constrain_value(const T amt, const T low, const T high)
 {
-    // the check for NaN as a float prevents propogation of floating point
+    // the check for NaN as a float prevents propagation of floating point
     // errors through any function that uses constrain_float(). The normal
     // float semantics already handle -Inf and +Inf
     if (isnan(amt)) {

libraries/AP_Math/edc.cpp

@@ -13,7 +13,7 @@
 
 #include <inttypes.h>
 
-/* CRC16 implementation acording to CCITT standards */
+/* CRC16 implementation according to CCITT standards */
 static const uint16_t crc16tab[256] = {
   0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7,
   0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,

libraries/AP_Math/location.cpp

@@ -235,7 +235,7 @@ void wgsecef2llh(const Vector3d &ecef, Vector3d &llh) {
     return;
   }
 
-  /* Caluclate some other constants as defined in the Fukushima paper. */
+  /* Calculate some other constants as defined in the Fukushima paper. */
   const double P = p / WGS84_A;
   const double e_c = sqrt(1. - WGS84_E*WGS84_E);
   const double Z = fabs(ecef[2]) * e_c / WGS84_A;

libraries/AP_Math/matrix_alg.cpp

@@ -207,7 +207,7 @@ bool mat_inverse(float* A, float* inv, uint8_t n)
     memset(U_inv,0,n*n*sizeof(float));
     mat_back_sub(U,U_inv,n);
 
-    // decomposed matrices no loger required
+    // decomposed matrices no longer required
     free(L);
     free(U);
 

libraries/AP_Math/vector3.h

@@ -42,7 +42,7 @@
 * scalar triple product: a*(b%c) = c*(a%b) = b*(c%a)
 * vector quadruple product: (a%b)*(c%d) = (a*c)*(b*d) - (a*d)*(b*c)
 * if a is unit vector along b then a%b = -b%a = -b(cast to matrix)*a = 0
-* vectors a1...an are linearly dependant if there exists a vector of scalars (b) where a1*b1 + ... + an*bn = 0
+* vectors a1...an are linearly dependent if there exists a vector of scalars (b) where a1*b1 + ... + an*bn = 0
 *           or if the matrix (A) * b = 0
 *
 ****************************************/