From 892cc2ea6f5cc39b2bf47e275722f4420239d7fc Mon Sep 17 00:00:00 2001
From: Ricardo de Almeida Gonzaga <ricardo.gonzaga@intel.com>
Date: Thu, 12 May 2016 14:01:14 -0300
Subject: [PATCH] AP_HAL_PX4: Fix typos

---
 libraries/AP_HAL_PX4/I2CDriver.cpp | 4 ++--
 libraries/AP_HAL_PX4/I2CDriver.h   | 4 ++--
 libraries/AP_HAL_PX4/RCOutput.cpp  | 2 +-
 libraries/AP_HAL_PX4/Scheduler.cpp | 2 +-
 4 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_HAL_PX4/I2CDriver.cpp b/libraries/AP_HAL_PX4/I2CDriver.cpp
index 6813620a9c..50449f15ba 100644
--- a/libraries/AP_HAL_PX4/I2CDriver.cpp
+++ b/libraries/AP_HAL_PX4/I2CDriver.cpp
@@ -69,7 +69,7 @@ uint8_t PX4I2CDriver::writeRegister(uint8_t addr, uint8_t reg, uint8_t val)
     return do_transfer(addr, d, sizeof(d), nullptr, 0) ? 0:1;
 }
 
-/* writeRegisters: write bytes to contigious registers */
+/* writeRegisters: write bytes to contiguous registers */
 uint8_t PX4I2CDriver::writeRegisters(uint8_t addr, uint8_t reg,
                                      uint8_t len, uint8_t* data)
 {
@@ -89,7 +89,7 @@ uint8_t PX4I2CDriver::readRegister(uint8_t addr, uint8_t reg, uint8_t* data)
     return do_transfer(addr, &reg, 1, data, 1) ? 0:1;
 }
 
-/* readRegister: read contigious device registers - writes the first 
+/* readRegister: read contiguous device registers - writes the first 
  * register, then reads back multiple bytes */
 uint8_t PX4I2CDriver::readRegisters(uint8_t addr, uint8_t reg,
                                     uint8_t len, uint8_t* data)
diff --git a/libraries/AP_HAL_PX4/I2CDriver.h b/libraries/AP_HAL_PX4/I2CDriver.h
index f7039e5434..fcfcca7f78 100644
--- a/libraries/AP_HAL_PX4/I2CDriver.h
+++ b/libraries/AP_HAL_PX4/I2CDriver.h
@@ -22,7 +22,7 @@ public:
     /* writeRegister: write a single 8-bit value to a register */
     uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val) override;
 
-    /* writeRegisters: write bytes to contigious registers */
+    /* writeRegisters: write bytes to contiguous registers */
     uint8_t writeRegisters(uint8_t addr, uint8_t reg, uint8_t len, uint8_t* data) override;
 
     /* read: for i2c devices which do not obey register conventions */
@@ -32,7 +32,7 @@ public:
      * then reads back an 8-bit value. */
     uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data) override;
 
-    /* readRegister: read contigious device registers - writes the first 
+    /* readRegister: read contiguous device registers - writes the first 
      * register, then reads back multiple bytes */
     uint8_t readRegisters(uint8_t addr, uint8_t reg, uint8_t len, uint8_t* data) override;
     
diff --git a/libraries/AP_HAL_PX4/RCOutput.cpp b/libraries/AP_HAL_PX4/RCOutput.cpp
index 66d812998f..62cd69a079 100644
--- a/libraries/AP_HAL_PX4/RCOutput.cpp
+++ b/libraries/AP_HAL_PX4/RCOutput.cpp
@@ -204,7 +204,7 @@ void PX4RCOutput::enable_ch(uint8_t ch)
         return;
     }
     if (ch >= 8 && !(_enabled_channels & (1U<<ch))) {
-        // this is the first enable of an auxillary channel - setup
+        // this is the first enable of an auxiliary channel - setup
         // aux channels now. This delayed setup makes it possible to
         // use BRD_PWM_COUNT to setup the number of PWM channels.
         _init_alt_channels();
diff --git a/libraries/AP_HAL_PX4/Scheduler.cpp b/libraries/AP_HAL_PX4/Scheduler.cpp
index 43ed54538e..a39d2d239a 100644
--- a/libraries/AP_HAL_PX4/Scheduler.cpp
+++ b/libraries/AP_HAL_PX4/Scheduler.cpp
@@ -123,7 +123,7 @@ static void set_normal_priority(void *sem)
 }
 
 /*
-  a varient of delay_microseconds that boosts priority to
+  a variant of delay_microseconds that boosts priority to
   APM_MAIN_PRIORITY_BOOST for APM_MAIN_PRIORITY_BOOST_USEC
   microseconds when the time completes. This significantly improves
   the regularity of timing of the main loop as it takes