From 745a4df316c9ade0ebe574850e11a0b33ec57c27 Mon Sep 17 00:00:00 2001 From: Mykhailo Kuznietsov Date: Wed, 11 Oct 2023 18:41:49 +1100 Subject: [PATCH] AC_Autorotation: Fix some typos Fixed some typos found in the code. --- libraries/AC_Autorotation/AC_Autorotation.cpp | 8 ++++---- libraries/AC_Autorotation/AC_Autorotation.h | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/libraries/AC_Autorotation/AC_Autorotation.cpp b/libraries/AC_Autorotation/AC_Autorotation.cpp index 69f9a6dcbb..7ce790517d 100644 --- a/libraries/AC_Autorotation/AC_Autorotation.cpp +++ b/libraries/AC_Autorotation/AC_Autorotation.cpp @@ -101,7 +101,7 @@ const AP_Param::GroupInfo AC_Autorotation::var_info[] = { // @Param: FW_V_P // @DisplayName: Velocity (horizontal) P gain - // @Description: Velocity (horizontal) P gain. Determines the propotion of the target acceleration based on the velocity error. + // @Description: Velocity (horizontal) P gain. Determines the proportion of the target acceleration based on the velocity error. // @Range: 0.1 6.0 // @Increment: 0.1 // @User: Advanced @@ -153,7 +153,7 @@ bool AC_Autorotation::update_hs_glide_controller(float dt) _flags.bad_rpm = false; _flags.bad_rpm_warning = false; - // Get current rpm and update healthly signal counters + // Get current rpm and update healthy signal counters _current_rpm = get_rpm(true); if (_unhealthy_rpm_counter <=30) { @@ -220,7 +220,7 @@ float AC_Autorotation::get_rpm(bool update_counter) //Get RPM value uint8_t instance = _param_rpm_instance; - //Check RPM sesnor is returning a healthy status + //Check RPM sensor is returning a healthy status if (!rpm->get_rpm(instance, current_rpm) || current_rpm <= -1) { //unhealthy, rpm unreliable _flags.bad_rpm = true; @@ -322,7 +322,7 @@ void AC_Autorotation::update_forward_speed_controller(void) _delta_speed_fwd = _speed_forward - _speed_forward_last; //(cm/s) _speed_forward_last = _speed_forward; //(cm/s) - // Limitng the target velocity based on the max acceleration limit + // Limiting the target velocity based on the max acceleration limit if (_cmd_vel < _vel_target) { _cmd_vel += _accel_max * _dt; if (_cmd_vel > _vel_target) { diff --git a/libraries/AC_Autorotation/AC_Autorotation.h b/libraries/AC_Autorotation/AC_Autorotation.h index d89fe88dc4..d5cfa52097 100644 --- a/libraries/AC_Autorotation/AC_Autorotation.h +++ b/libraries/AC_Autorotation/AC_Autorotation.h @@ -32,7 +32,7 @@ public: float get_last_collective() const { return _collective_out; } bool is_enable(void) { return _param_enable; } void Log_Write_Autorotation(void) const; - void update_forward_speed_controller(void); // Update foward speed controller + void update_forward_speed_controller(void); // Update forward speed controller void set_desired_fwd_speed(void) { _vel_target = _param_target_speed; } // Overloaded: Set desired speed for forward controller to parameter value void set_desired_fwd_speed(float speed) { _vel_target = speed; } // Overloaded: Set desired speed to argument value int32_t get_pitch(void) const { return _pitch_target; } // Get pitch target