AC_AttitudeControl: Fix some typos

Fixed some typos found in the code.

libraries/AC_AttitudeControl/AC_AttitudeControl.cpp

@@ -45,7 +45,7 @@ const AP_Param::GroupInfo AC_AttitudeControl::var_info[] = {
 
     // @Param: RATE_FF_ENAB
     // @DisplayName: Rate Feedforward Enable
-    // @Description: Controls whether body-frame rate feedfoward is enabled or disabled
+    // @Description: Controls whether body-frame rate feedforward is enabled or disabled
     // @Values: 0:Disabled, 1:Enabled
     // @User: Advanced
     AP_GROUPINFO("RATE_FF_ENAB", 5, AC_AttitudeControl, _rate_bf_ff_enabled, AC_ATTITUDE_CONTROL_RATE_BF_FF_DEFAULT),
@@ -785,7 +785,7 @@ void AC_AttitudeControl::thrust_vector_rotation_angles(const Quaternion& attitud
     // The direction of thrust is [0,0,-1] is any body-fixed frame, inc. body frame and target frame.
     const Vector3f thrust_vector_up{0.0f, 0.0f, -1.0f};
 
-    // attitude_target and attitute_body are passive rotations from target / body frames to the NED frame
+    // attitude_target and attitude_body are passive rotations from target / body frames to the NED frame
     
     // Rotating [0,0,-1] by attitude_target expresses (gets a view of) the target thrust vector in the inertial frame
     Vector3f att_target_thrust_vec = attitude_target * thrust_vector_up; // target thrust vector

libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.cpp

@@ -7,7 +7,7 @@
 #include <AP_Math/AP_Math.h>
 
 // 6DoF control is extracted from the existing copter code by treating desired angles as thrust angles rather than vehicle attitude.
-// Vehicle attitude is then set separately, typically the vehicle would matain 0 roll and pitch.
+// Vehicle attitude is then set separately, typically the vehicle would maintain 0 roll and pitch.
 // rate commands result in the vehicle behaving as a ordinary copter.
 
 // run lowest level body-frame rate controller and send outputs to the motors

libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.h

@@ -20,10 +20,10 @@ public:
 
     // Command a Quaternion attitude with feedforward and smoothing
     // attitude_desired_quat: is updated on each time_step (_dt) by the integral of the angular velocity
-    // not used anywhere in current code, panic so this implementaiton is not overlooked
+    // not used anywhere in current code, panic so this implementation is not overlooked
     void input_quaternion(Quaternion& attitude_desired_quat, Vector3f ang_vel_target) override;
     /*
-        override input functions to attitude controller and convert desired angles into thrust angles and substitute for osset angles
+        override input functions to attitude controller and convert desired angles into thrust angles and substitute for offset angles
     */
 
     // Command an euler roll and pitch angle and an euler yaw rate with angular velocity feedforward and smoothing

libraries/AC_AttitudeControl/AC_CommandModel.cpp

@@ -1,7 +1,7 @@
 #include "AC_CommandModel.h"
 #include <AP_HAL/AP_HAL.h>
 
-// The Commmand Model class holds parameters that shape the pilot desired angular rate input.  This class can 
+// The Command Model class holds parameters that shape the pilot desired angular rate input.  This class can 
 // be expanded to hold the methods that shape the pilot desired input.
 
 extern const AP_HAL::HAL& hal;

libraries/AC_AttitudeControl/AC_WeatherVane.cpp

@@ -23,7 +23,7 @@ const AP_Param::GroupInfo AC_WeatherVane::var_info[] = {
 
     // @Param: ENABLE
     // @DisplayName: Enable
-    // @Description: Enable weather vaning.  When active, the aircraft will automatically yaw into wind when in a VTOL position controlled mode. Pilot yaw commands overide the weathervaning action.
+    // @Description: Enable weather vaning.  When active, the aircraft will automatically yaw into wind when in a VTOL position controlled mode. Pilot yaw commands override the weathervaning action.
     // @Values: -1:Only use during takeoffs or landing see weathervane takeoff and land override parameters,0:Disabled,1:Nose into wind,2:Nose or tail into wind,3:Side into wind,4:tail into wind
     // @User: Standard
     AP_GROUPINFO_FLAGS("ENABLE", 1, AC_WeatherVane, _direction, WVANE_PARAM_ENABLED, AP_PARAM_FLAG_ENABLE),
@@ -139,7 +139,7 @@ bool AC_WeatherVane::get_yaw_out(float &yaw_output, const int16_t pilot_yaw, con
     if (is_positive(_max_vel_xy) || is_positive(_max_vel_z)) {
         Vector3f vel_ned;
         if (!AP::ahrs().get_velocity_NED(vel_ned) || // need speed estimate
-                (is_positive(_max_vel_xy) && (vel_ned.xy().length_squared() > (_max_vel_xy*_max_vel_xy))) || // check xy speeed
+                (is_positive(_max_vel_xy) && (vel_ned.xy().length_squared() > (_max_vel_xy*_max_vel_xy))) || // check xy speed
                 (is_positive(_max_vel_z) && (fabsf(vel_ned.z) > _max_vel_z))) { // check z speed
             reset();
             return false;

libraries/AC_AttitudeControl/AC_WeatherVane.h

@@ -36,7 +36,7 @@ class AC_WeatherVane {
             PITCH_ENABLE = (1<<0),
         };
     
-        // Paramaters
+        // Parameters
         AP_Int8 _direction;
         AP_Float _gain;
         AP_Float _min_dz_ang_deg;