diff --git a/libraries/AP_AccelCal/AP_AccelCal.h b/libraries/AP_AccelCal/AP_AccelCal.h
index 9f7df3e862..58266b614d 100644
--- a/libraries/AP_AccelCal/AP_AccelCal.h
+++ b/libraries/AP_AccelCal/AP_AccelCal.h
@@ -52,7 +52,7 @@ private:
     // update the state of the Accel calibrator server
     void update_status();
 
-    // checks if no new sample has been recieved for considerable amount of time
+    // checks if no new sample has been received for considerable amount of time
     bool check_for_timeout();
 
     // check if client's calibrator is active
diff --git a/libraries/AP_AccelCal/AccelCalibrator.cpp b/libraries/AP_AccelCal/AccelCalibrator.cpp
index 08d18efcf9..bee0a72386 100644
--- a/libraries/AP_AccelCal/AccelCalibrator.cpp
+++ b/libraries/AP_AccelCal/AccelCalibrator.cpp
@@ -192,7 +192,7 @@ bool AccelCalibrator::get_sample_corrected(uint8_t i, Vector3f& s) const {
     return true;
 }
 
-// checks if no new sample has been recieved for considerable amount of time
+// checks if no new sample has been received for considerable amount of time
 void AccelCalibrator::check_for_timeout() {
     const uint32_t timeout = _conf_sample_time*2*1000 + 500;
     if (_status == ACCEL_CAL_COLLECTING_SAMPLE && AP_HAL::millis() - _last_samp_frag_collected_ms > timeout) {
@@ -459,7 +459,7 @@ void AccelCalibrator::calc_jacob(const Vector3f& sample, const struct param_t& p
     };
 }
 
-// returns number of paramters are required for selected Fit type
+// returns number of parameters are required for selected Fit type
 uint8_t AccelCalibrator::get_num_params() const {
     switch (_conf_fit_type) {
         case ACCEL_CAL_AXIS_ALIGNED_ELLIPSOID:
diff --git a/libraries/AP_AccelCal/AccelCalibrator.h b/libraries/AP_AccelCal/AccelCalibrator.h
index 57649ac703..17726beb9b 100644
--- a/libraries/AP_AccelCal/AccelCalibrator.h
+++ b/libraries/AP_AccelCal/AccelCalibrator.h
@@ -133,7 +133,7 @@ private:
     // determines if the result is acceptable
     bool accept_result() const;
 
-    // returns number of paramters are required for selected Fit type
+    // returns number of parameters are required for selected Fit type
     uint8_t get_num_params() const;
 
     // Function related to Gauss Newton Least square regression process