diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index ebb4af1396..f754889420 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -530,7 +530,7 @@ float AP_Baro::get_external_temperature(const uint8_t instance) const
     // The reason for not just using the baro temperature is it tends to read high,
     // often 30 degrees above the actual temperature. That means the
     // EAS2TAS tends to be off by quite a large margin, as well as
-    // the calculation of altitude difference betweeen two pressures
+    // the calculation of altitude difference between two pressures
     // reporting a high temperature will cause the aircraft to
     // estimate itself as flying higher then it actually is.
     return MIN(get_temperature(instance), INTERNAL_TEMPERATURE_CLAMP);
@@ -583,7 +583,7 @@ void AP_Baro::init(void)
 {
     init_done = true;
 
-    // always set field elvation to zero on reboot in the case user
+    // always set field elevation to zero on reboot in the case user
     // fails to update.  TBD automate sanity checking error bounds on
     // on previously saved value at new location etc.
     if (!is_zero(_field_elevation)) {
diff --git a/libraries/AP_Baro/AP_Baro.h b/libraries/AP_Baro/AP_Baro.h
index a1b4b63242..4b1055fff9 100644
--- a/libraries/AP_Baro/AP_Baro.h
+++ b/libraries/AP_Baro/AP_Baro.h
@@ -294,7 +294,7 @@ private:
     DerivativeFilterFloat_Size7         _climb_rate_filter;
     AP_Float                            _specific_gravity; // the specific gravity of fluid for an ROV 1.00 for freshwater, 1.024 for salt water
     AP_Float                            _user_ground_temperature; // user override of the ground temperature used for EAS2TAS
-    float                               _guessed_ground_temperature; // currently ground temperature estimate using our best abailable source
+    float                               _guessed_ground_temperature; // currently ground temperature estimate using our best available source
 
     // when did we last notify the GCS of new pressure reference?
     uint32_t                            _last_notify_ms;
diff --git a/libraries/AP_Baro/AP_Baro_BMP085.cpp b/libraries/AP_Baro/AP_Baro_BMP085.cpp
index 9601db80d2..d2fed889da 100644
--- a/libraries/AP_Baro/AP_Baro_BMP085.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP085.cpp
@@ -70,7 +70,7 @@ bool AP_Baro_BMP085::_init()
     // get pointer to i2c bus semaphore
     AP_HAL::Semaphore *sem = _dev->get_semaphore();
 
-    // take i2c bus sempahore
+    // take i2c bus semaphore
     WITH_SEMAPHORE(sem);
 
     if (BMP085_EOC >= 0) {
@@ -177,7 +177,7 @@ bool AP_Baro_BMP085::_read_prom(uint16_t *prom)
 }
 
 /*
-  This is a state machine. Acumulate a new sensor reading.
+  This is a state machine. Accumulate a new sensor reading.
  */
 void AP_Baro_BMP085::_timer(void)
 {
diff --git a/libraries/AP_Baro/AP_Baro_BMP280.cpp b/libraries/AP_Baro/AP_Baro_BMP280.cpp
index 005000b169..1c89ac0a4b 100644
--- a/libraries/AP_Baro/AP_Baro_BMP280.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP280.cpp
@@ -127,7 +127,7 @@ bool AP_Baro_BMP280::_init()
 
 
 
-//  acumulate a new sensor reading
+//  accumulate a new sensor reading
 void AP_Baro_BMP280::_timer(void)
 {
     uint8_t buf[6];
diff --git a/libraries/AP_Baro/AP_Baro_BMP388.cpp b/libraries/AP_Baro/AP_Baro_BMP388.cpp
index 25ea7ab41e..6b48d9e783 100644
--- a/libraries/AP_Baro/AP_Baro_BMP388.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP388.cpp
@@ -130,7 +130,7 @@ bool AP_Baro_BMP388::init()
 
 
 
-//  acumulate a new sensor reading
+//  accumulate a new sensor reading
 void AP_Baro_BMP388::timer(void)
 {
     uint8_t buf[7];
diff --git a/libraries/AP_Baro/AP_Baro_Backend.cpp b/libraries/AP_Baro/AP_Baro_Backend.cpp
index 15c75b65a9..f315bcd2b9 100644
--- a/libraries/AP_Baro/AP_Baro_Backend.cpp
+++ b/libraries/AP_Baro/AP_Baro_Backend.cpp
@@ -67,7 +67,7 @@ void AP_Baro_Backend::_copy_to_frontend(uint8_t instance, float pressure, float
 static constexpr float FILTER_KOEF = 0.1f;
 
 /* Check that the baro value is valid by using a mean filter. If the
- * value is further than filtrer_range from mean value, it is
+ * value is further than filter_range from mean value, it is
  * rejected. 
 */
 bool AP_Baro_Backend::pressure_ok(float press)
diff --git a/libraries/AP_Baro/AP_Baro_Backend.h b/libraries/AP_Baro/AP_Baro_Backend.h
index 476473bf5d..94b155e483 100644
--- a/libraries/AP_Baro/AP_Baro_Backend.h
+++ b/libraries/AP_Baro/AP_Baro_Backend.h
@@ -20,7 +20,7 @@ public:
     void backend_update(uint8_t instance);
 
     //  Check that the baro valid by using a mean filter.
-    // If the value further that filtrer_range from mean value, it is rejected.
+    // If the value further that filter_range from mean value, it is rejected.
     bool pressure_ok(float press);
     uint32_t get_error_count() const { return _error_count; }
 
diff --git a/libraries/AP_Baro/AP_Baro_DPS280.cpp b/libraries/AP_Baro/AP_Baro_DPS280.cpp
index 8eef71f3a7..fe34ca0bd0 100644
--- a/libraries/AP_Baro/AP_Baro_DPS280.cpp
+++ b/libraries/AP_Baro/AP_Baro_DPS280.cpp
@@ -246,7 +246,7 @@ void AP_Baro_DPS280::check_health(void)
     }
 }
 
-//  acumulate a new sensor reading
+//  accumulate a new sensor reading
 void AP_Baro_DPS280::timer(void)
 {
     uint8_t buf[6];
diff --git a/libraries/AP_Baro/AP_Baro_DroneCAN.cpp b/libraries/AP_Baro/AP_Baro_DroneCAN.cpp
index ee1ee9e427..6812480d7a 100644
--- a/libraries/AP_Baro/AP_Baro_DroneCAN.cpp
+++ b/libraries/AP_Baro/AP_Baro_DroneCAN.cpp
@@ -88,7 +88,7 @@ AP_Baro_DroneCAN* AP_Baro_DroneCAN::get_dronecan_backend(AP_DroneCAN* ap_droneca
     
     if (create_new) {
         bool already_detected = false;
-        //Check if there's an empty spot for possible registeration
+        //Check if there's an empty spot for possible registration
         for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
             if (_detected_modules[i].ap_dronecan == ap_dronecan && _detected_modules[i].node_id == node_id) {
                 //Already Detected
diff --git a/libraries/AP_Baro/AP_Baro_FBM320.cpp b/libraries/AP_Baro/AP_Baro_FBM320.cpp
index 20b8edcd71..7ad9a7b0c8 100644
--- a/libraries/AP_Baro/AP_Baro_FBM320.cpp
+++ b/libraries/AP_Baro/AP_Baro_FBM320.cpp
@@ -179,7 +179,7 @@ void AP_Baro_FBM320::calculate_PT(int32_t UT, int32_t UP, int32_t &pressure, int
     pressure = ((X31 + X32) >> 15) + PP4 + 99880;
 }
 
-//  acumulate a new sensor reading
+//  accumulate a new sensor reading
 void AP_Baro_FBM320::timer(void)
 {
     uint8_t buf[3];
diff --git a/libraries/AP_Baro/AP_Baro_LPS2XH.cpp b/libraries/AP_Baro/AP_Baro_LPS2XH.cpp
index 11016e585a..6db9acdc3d 100644
--- a/libraries/AP_Baro/AP_Baro_LPS2XH.cpp
+++ b/libraries/AP_Baro/AP_Baro_LPS2XH.cpp
@@ -212,7 +212,7 @@ bool AP_Baro_LPS2XH::_check_whoami(void)
     return false;
 }
 
-//  acumulate a new sensor reading
+//  accumulate a new sensor reading
 void AP_Baro_LPS2XH::_timer(void)
 {
     uint8_t status;
diff --git a/libraries/AP_Baro/AP_Baro_SPL06.cpp b/libraries/AP_Baro/AP_Baro_SPL06.cpp
index 0ceb27dd95..baca15dee2 100644
--- a/libraries/AP_Baro/AP_Baro_SPL06.cpp
+++ b/libraries/AP_Baro/AP_Baro_SPL06.cpp
@@ -179,7 +179,7 @@ int32_t AP_Baro_SPL06::raw_value_scale_factor(uint8_t oversampling)
     }
 }
 
-// acumulate a new sensor reading
+// accumulate a new sensor reading
 void AP_Baro_SPL06::_timer(void)
 {
     uint8_t buf[3];