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AP_Compass: Fix some typos

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Fixed some typos found in the code.
This commit is contained in:
Mykhailo Kuznietsov 2023-10-11 18:41:52 +11:00 committed by Peter Barker
parent 4e7d5e9ecf
commit 633bb159bf
8 changed files with 12 additions and 12 deletions
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6
libraries/AP_Compass/AP_Compass_Backend.cpp
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@ -89,7 +89,7 @@ void AP_Compass_Backend::correct_field(Vector3f &mag, uint8_t i)
} }
#if AP_COMPASS_DIAGONALS_ENABLED #if AP_COMPASS_DIAGONALS_ENABLED
// apply eliptical correction // apply elliptical correction
if (!diagonals.is_zero()) { if (!diagonals.is_zero()) {
Matrix3f mat( Matrix3f mat(
diagonals.x, offdiagonals.x, offdiagonals.y, diagonals.x, offdiagonals.x, offdiagonals.y,
@ -123,7 +123,7 @@ void AP_Compass_Backend::correct_field(Vector3f &mag, uint8_t i)
} }
/* /*
we apply the motor offsets after we apply the eliptical we apply the motor offsets after we apply the elliptical
correction. This is needed to match the way that the motor correction. This is needed to match the way that the motor
compensation values are calculated, as they are calculated based compensation values are calculated, as they are calculated based
on final field outputs, not on the raw outputs on final field outputs, not on the raw outputs
@ -251,7 +251,7 @@ void AP_Compass_Backend::set_rotation(uint8_t instance, enum Rotation rotation)
static constexpr float FILTER_KOEF = 0.1f; static constexpr float FILTER_KOEF = 0.1f;
/* Check that the compass value is valid by using a mean filter. If /* Check that the compass value is valid by using a mean filter. If
* the value is further than filtrer_range from mean value, it is * the value is further than filter_range from mean value, it is
* rejected. * rejected.
*/ */
bool AP_Compass_Backend::field_ok(const Vector3f &field) bool AP_Compass_Backend::field_ok(const Vector3f &field)

2
libraries/AP_Compass/AP_Compass_Backend.h
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@ -92,7 +92,7 @@ protected:
* 2. publish_raw_field - this provides an uncorrected point-sample for * 2. publish_raw_field - this provides an uncorrected point-sample for
* calibration libraries * calibration libraries
* 3. correct_field - this corrects the measurement in-place for hard iron, * 3. correct_field - this corrects the measurement in-place for hard iron,
* soft iron, motor interference, and non-orthagonality errors * soft iron, motor interference, and non-orthogonality errors
* 4. publish_filtered_field - legacy filtered magnetic field * 4. publish_filtered_field - legacy filtered magnetic field
* *
* All those functions expect the mag field to be in milligauss. * All those functions expect the mag field to be in milligauss.

4
libraries/AP_Compass/AP_Compass_Calibration.cpp
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@ -464,8 +464,8 @@ bool Compass::get_uncorrected_field(uint8_t instance, Vector3f &field) const
field = get_field(instance); field = get_field(instance);
#if AP_COMPASS_DIAGONALS_ENABLED #if AP_COMPASS_DIAGONALS_ENABLED
// form eliptical correction matrix and invert it. This is // form elliptical correction matrix and invert it. This is
// needed to remove the effects of the eliptical correction // needed to remove the effects of the elliptical correction
// when calculating new offsets // when calculating new offsets
const Vector3f &diagonals = get_diagonals(instance); const Vector3f &diagonals = get_diagonals(instance);
if (!diagonals.is_zero()) { if (!diagonals.is_zero()) {

4
libraries/AP_Compass/AP_Compass_DroneCAN.cpp
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@ -93,7 +93,7 @@ AP_Compass_Backend* AP_Compass_DroneCAN::probe(uint8_t index)
bool AP_Compass_DroneCAN::init() bool AP_Compass_DroneCAN::init()
{ {
// Adding 1 is necessary to allow backward compatibilty, where this field was set as 1 by default // Adding 1 is necessary to allow backward compatibility, where this field was set as 1 by default
if (!register_compass(_devid, _instance)) { if (!register_compass(_devid, _instance)) {
return false; return false;
} }
@ -120,7 +120,7 @@ AP_Compass_DroneCAN* AP_Compass_DroneCAN::get_dronecan_backend(AP_DroneCAN* ap_d
} }
bool already_detected = false; bool already_detected = false;
// Check if there's an empty spot for possible registeration // Check if there's an empty spot for possible registration
for (uint8_t i = 0; i < COMPASS_MAX_BACKEND; i++) { for (uint8_t i = 0; i < COMPASS_MAX_BACKEND; i++) {
if (_detected_modules[i].ap_dronecan == ap_dronecan && if (_detected_modules[i].ap_dronecan == ap_dronecan &&
_detected_modules[i].node_id == node_id && _detected_modules[i].node_id == node_id &&

2
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -38,7 +38,7 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
/* /*
* Defaul address: 0x1E * Default address: 0x1E
*/ */
#define HMC5843_REG_CONFIG_A 0x00 #define HMC5843_REG_CONFIG_A 0x00

2
libraries/AP_Compass/AP_Compass_MMC5xx3.cpp
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@ -70,7 +70,7 @@ AP_Compass_MMC5XX3::AP_Compass_MMC5XX3(AP_HAL::OwnPtr<AP_HAL::Device> _dev,
bool AP_Compass_MMC5XX3::init() bool AP_Compass_MMC5XX3::init()
{ {
// take i2c bus sempahore // take i2c bus semaphore
WITH_SEMAPHORE(dev->get_semaphore()); WITH_SEMAPHORE(dev->get_semaphore());
dev->set_retries(10); dev->set_retries(10);

2
libraries/AP_Compass/AP_Compass_SITL.cpp
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@ -51,7 +51,7 @@ AP_Compass_SITL::AP_Compass_SITL()
/* /*
create correction matrix for diagnonals and off-diagonals create correction matrix for diagonals and off-diagonals
*/ */
void AP_Compass_SITL::_setup_eliptical_correcion(uint8_t i) void AP_Compass_SITL::_setup_eliptical_correcion(uint8_t i)
{ {

2
libraries/AP_Compass/CompassCalibrator.h
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@ -241,7 +241,7 @@ private:
bool _is_external; // true if compass is external (provided by caller) bool _is_external; // true if compass is external (provided by caller)
bool _check_orientation; // true if orientation should be automatically checked bool _check_orientation; // true if orientation should be automatically checked
bool _fix_orientation; // true if orientation should be fixed if necessary bool _fix_orientation; // true if orientation should be fixed if necessary
bool _always_45_deg; // true if orentation should considder 45deg with equal tolerance bool _always_45_deg; // true if orientation should consider 45deg with equal tolerance
float _orientation_confidence; // measure of confidence in automatic orientation detection float _orientation_confidence; // measure of confidence in automatic orientation detection
CompassSample _last_sample; CompassSample _last_sample;