AC_Avoidance: Fix some typos

Fixed some typos found in the code.

libraries/AC_Avoidance/AC_Avoid.cpp

@@ -143,7 +143,7 @@ void AC_Avoid::adjust_velocity_fence(float kP, float accel_cmss, Vector3f &desir
         adjust_velocity_circle_fence(kP, accel_cmss_limited, desired_velocity_xy_cms, backup_vel_fence, dt);
         find_max_quadrant_velocity(backup_vel_fence, quad_1_back_vel, quad_2_back_vel, quad_3_back_vel, quad_4_back_vel);
         
-        // backup_vel_fence is set to zero after each fence incase the velocity is unset from previous methods
+        // backup_vel_fence is set to zero after each fence in case the velocity is unset from previous methods
         backup_vel_fence.zero();
         adjust_velocity_inclusion_and_exclusion_polygons(kP, accel_cmss_limited, desired_velocity_xy_cms, backup_vel_fence, dt);
         find_max_quadrant_velocity(backup_vel_fence, quad_1_back_vel, quad_2_back_vel, quad_3_back_vel, quad_4_back_vel);
@@ -229,7 +229,7 @@ void AC_Avoid::adjust_velocity(Vector3f &desired_vel_cms, bool &backing_up, floa
         }
     
         // let user take control if they are backing away at a greater speed than what we have calculated
-        // this has to be done for x,y,z seperately. For eg, user is doing fine in "x" direction but might need backing up in "y".
+        // this has to be done for x,y,z separately. For eg, user is doing fine in "x" direction but might need backing up in "y".
         if (!is_zero(desired_backup_vel.x)) {
             if (is_positive(desired_backup_vel.x)) {
                 desired_vel_cms.x = MAX(desired_vel_cms.x, desired_backup_vel.x);
@@ -505,7 +505,7 @@ void AC_Avoid::limit_velocity_3D(float kP, float accel_cmss, Vector3f &desired_v
         return;
     }
     // create a margin_cm length vector in the direction of desired_vel_cms
-    // this will create larger margin towards the direction vehicle is traveling in
+    // this will create larger margin towards the direction vehicle is travelling in
     const Vector3f margin_vector = desired_vel_cms.normalized() * margin_cm;
     const Vector2f limit_direction_xy{obstacle_vector.x, obstacle_vector.y};
     

libraries/AC_Avoidance/AC_Avoid.h

@@ -18,7 +18,7 @@
 #define AC_AVOID_NONGPS_DIST_MAX_DEFAULT    5.0f    // objects over 5m away are ignored (default value for DIST_MAX parameter)
 #define AC_AVOID_ANGLE_MAX_PERCENT          0.75f   // object avoidance max lean angle as a percentage (expressed in 0 ~ 1 range) of total vehicle max lean angle
 
-#define AC_AVOID_ACTIVE_LIMIT_TIMEOUT_MS    500     // if limiting is active if last limit is happend in the last x ms
+#define AC_AVOID_ACTIVE_LIMIT_TIMEOUT_MS    500     // if limiting is active if last limit is happened in the last x ms
 #define AC_AVOID_ACCEL_TIMEOUT_MS           200     // stored velocity used to calculate acceleration will be reset if avoidance is active after this many ms
 
 /*
@@ -213,7 +213,7 @@ private:
     AP_Int8 _behavior;          // avoidance behaviour (slide or stop)
     AP_Float _backup_speed_max; // Maximum speed that will be used to back away (in m/s)
     AP_Float _alt_min;          // alt below which Proximity based avoidance is turned off
-    AP_Float _accel_max;        // maximum accelration while simple avoidance is active
+    AP_Float _accel_max;        // maximum acceleration while simple avoidance is active
     AP_Float _backup_deadzone;  // distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles
 
     bool _proximity_enabled = true; // true if proximity sensor based avoidance is enabled (used to allow pilot to enable/disable)

libraries/AC_Avoidance/AP_OABendyRuler.h

@@ -74,7 +74,7 @@ private:
     // BendyRuler parameters
     AP_Float _lookahead;            // object avoidance will look this many meters ahead of vehicle
     AP_Float _bendy_ratio;          // object avoidance will avoid major directional change if change in margin ratio is less than this param
-    AP_Int16 _bendy_angle;          // object avoidance will try avoding change in direction over this much angle
+    AP_Int16 _bendy_angle;          // object avoidance will try avoiding change in direction over this much angle
     AP_Int8  _bendy_type;           // Type of BendyRuler to run
     
     // internal variables used by background thread

libraries/AC_Avoidance/AP_OADatabase.cpp

@@ -230,7 +230,7 @@ uint8_t AP_OADatabase::get_send_to_gcs_flags(const OA_DbItemImportance importanc
     return 0x0;
 }
 
-// returns true when there's more work inthe queue to do
+// returns true when there's more work in the queue to do
 bool AP_OADatabase::process_queue()
 {
     if (!healthy()) {

libraries/AC_Avoidance/AP_OADijkstra.cpp

@@ -925,7 +925,7 @@ bool AP_OADijkstra::calc_shortest_path(const Location &origin, const Location &d
             }
         }
     }
-    // report error incase path not found
+    // report error in case path not found
     if (!success) {
         err_id = AP_OADijkstra_Error::DIJKSTRA_ERROR_COULD_NOT_FIND_PATH;
     }

libraries/AC_Avoidance/AP_OADijkstra.h

@@ -197,6 +197,6 @@ private:
     uint8_t _log_num_points;
     uint8_t _log_visgraph_version;
 
-    // refernce to AP_OAPathPlanner options param
+    // reference to AP_OAPathPlanner options param
     AP_Int16 &_options;
 };