diff --git a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
index 41ef4f2bd3..54754cfc60 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
@@ -362,7 +362,7 @@ void AP_MotorsHeli_Dual::calculate_armed_scalars()
     // allow use of external governor autorotation bailout window on main rotor
     if (_main_rotor._ext_gov_arot_pct.get() > 0  &&  (_main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_SPEED_SETPOINT  ||  _main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH)){
         // RSC only needs to know that the vehicle is in an autorotation if using the bailout window on an external governor
-        _main_rotor.set_autorotaion_flag(_heliflags.in_autorotation);
+        _main_rotor.set_autorotation_flag(_heliflags.in_autorotation);
     }
 }
 
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp b/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
index dd6bcd0e9f..21a38aa7cb 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
@@ -134,7 +134,7 @@ void AP_MotorsHeli_Quad::calculate_armed_scalars()
     // allow use of external governor autorotation bailout window on main rotor
     if (_main_rotor._ext_gov_arot_pct.get() > 0  &&  (_main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_SPEED_SETPOINT  ||  _main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH)){
         // RSC only needs to know that the vehicle is in an autorotation if using the bailout window on an external governor
-        _main_rotor.set_autorotaion_flag(_heliflags.in_autorotation);
+        _main_rotor.set_autorotation_flag(_heliflags.in_autorotation);
     }
 }
 
diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
index d05356b188..adcd64ebb0 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
@@ -237,7 +237,7 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
             // set rotor ramp to decrease speed to zero
             update_rotor_ramp(0.0f, dt);
 
-            if (_in_autorotaion) {
+            if (_in_autorotation) {
                 // if in autorotation and using an external governor, set the output to tell the governor to use bailout ramp
                 _control_output = constrain_float( _rsc_arot_bailout_pct/100.0f , 0.0f, 0.4f);
             } else {
diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.h b/libraries/AP_Motors/AP_MotorsHeli_RSC.h
index ca0635d138..72bf9f5dfb 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_RSC.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.h
@@ -121,7 +121,7 @@ public:
     void        use_bailout_ramp_time(bool enable) { _use_bailout_ramp = enable; }
 
     // use external governor autorotation window
-    void        set_autorotaion_flag(bool flag) { _in_autorotaion = flag; }
+    void        set_autorotation_flag(bool flag) { _in_autorotation = flag; }
 
     // set the throttle percentage to be sent to external governor to signal that autorotation bailout ramp should be used within this instance of Heli_RSC
     void        set_ext_gov_arot_bail(int16_t pct) { _rsc_arot_bailout_pct = pct; }
@@ -161,7 +161,7 @@ private:
     float           _governor_output;             // governor output for rotor speed control
     bool            _governor_engage;             // RSC governor status flag for soft-start
     bool            _use_bailout_ramp;            // true if allowing RSC to quickly ramp up engine
-    bool            _in_autorotaion;              // true if vehicle is currently in an autorotaion
+    bool            _in_autorotation;              // true if vehicle is currently in an autorotation
     int16_t         _rsc_arot_bailout_pct;        // the throttle percentage sent to the external governor to signal that autorotation bailout ramp should be used
 
     // update_rotor_ramp - slews rotor output scalar between 0 and 1, outputs float scalar to _rotor_ramp_output
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index e1a2b5c8a6..9821dfe99c 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -307,10 +307,10 @@ void AP_MotorsHeli_Single::calculate_armed_scalars()
     if (_main_rotor._ext_gov_arot_pct.get() > 0) {
         // RSC only needs to know that the vehicle is in an autorotation if using the bailout window on an external governor
         if (_main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_SPEED_SETPOINT  ||  _main_rotor._rsc_mode.get() == ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH) {
-            _main_rotor.set_autorotaion_flag(_heliflags.in_autorotation);
+            _main_rotor.set_autorotation_flag(_heliflags.in_autorotation);
         }
         if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPIT_EXT_GOV) {
-            _tail_rotor.set_autorotaion_flag(_heliflags.in_autorotation);
+            _tail_rotor.set_autorotation_flag(_heliflags.in_autorotation);
         }
     }