AC_AutoTune: Fix some typos

Fixed some typos found in the code.

libraries/AC_AutoTune/AC_AutoTune.h

@@ -158,7 +158,7 @@ protected:
                         AP_AHRS_View *ahrs_view,
                         AP_InertialNav *inertial_nav);
 
-    // send intermittant updates to user on status of tune
+    // send intermittent updates to user on status of tune
     virtual void do_gcs_announcements() = 0;
 
     // send post test updates to user

libraries/AC_AutoTune/AC_AutoTune_Heli.cpp

@@ -678,7 +678,7 @@ void AC_AutoTune_Heli::report_final_gains(AxisType test_axis) const
     }
 }
 
-// report gain formating helper
+// report gain formatting helper
 void AC_AutoTune_Heli::report_axis_gains(const char* axis_string, float rate_P, float rate_I, float rate_D, float rate_ff, float angle_P, float max_accel) const
 {
     gcs().send_text(MAV_SEVERITY_NOTICE,"AutoTune: %s complete", axis_string);
@@ -1353,7 +1353,7 @@ void AC_AutoTune_Heli::set_gains_post_tune(AxisType test_axis)
 }
 
 // updating_rate_ff_up - adjust FF to ensure the target is reached
-// FF is adjusted until rate requested is acheived
+// FF is adjusted until rate requested is achieved
 void AC_AutoTune_Heli::updating_rate_ff_up(float &tune_ff, float rate_target, float meas_rate, float meas_command)
 {
 
@@ -1565,7 +1565,7 @@ void AC_AutoTune_Heli::updating_angle_p_up(float &tune_p, float *freq, float *ga
     // once finished with sweep of frequencies, cnt = 12 is used to then tune for max response gain
     if (freq_cnt >= 12 && is_equal(start_freq,stop_freq)) {
         if (gain[freq_cnt] < max_resp_gain && tune_p < AUTOTUNE_SP_MAX && !find_peak) {
-            // keep increasing tuning gain unless phase changes or max response gain is acheived
+            // keep increasing tuning gain unless phase changes or max response gain is achieved
             if (phase[freq_cnt]-phase_max > 20.0f && phase[freq_cnt] < 210.0f) {
                 freq[freq_cnt] += 0.5 * test_freq_incr;
                 find_peak = true;
@@ -1837,7 +1837,7 @@ void AC_AutoTune_Heli::Log_Write_AutoTuneSweep(float freq, float gain, float pha
         phase);
 }
 
-// reset the test vaariables for each vehicle
+// reset the test variables for each vehicle
 void AC_AutoTune_Heli::reset_vehicle_test_variables()
 {
     // reset dwell test variables if sweep was interrupted in order to restart sweep

libraries/AC_AutoTune/AC_AutoTune_Heli.h

@@ -60,7 +60,7 @@ protected:
     // load test gains
     void load_test_gains() override;
 
-    // reset the test vaariables for heli
+    // reset the test variables for heli
     void reset_vehicle_test_variables() override;
 
     // reset the update gain variables for heli
@@ -111,7 +111,7 @@ protected:
     void Log_AutoTuneSweep() override;
     void Log_Write_AutoTuneSweep(float freq, float gain, float phase);
 
-    // send intermittant updates to user on status of tune
+    // send intermittent updates to user on status of tune
     void do_gcs_announcements() override;
 
     // send post test updates to user
@@ -161,7 +161,7 @@ private:
     void dwell_test_run(uint8_t freq_resp_input, float start_frq, float stop_frq, float &dwell_gain, float &dwell_phase, DwellType dwell_type);
 
     // updating_rate_ff_up - adjust FF to ensure the target is reached
-    // FF is adjusted until rate requested is acheived
+    // FF is adjusted until rate requested is achieved
     void updating_rate_ff_up(float &tune_ff, float rate_target, float meas_rate, float meas_command);
 
     // updating_rate_p_up - uses maximum allowable gain determined from max_gain test to determine rate p gain that does not exceed exceed max response gain
@@ -185,7 +185,7 @@ private:
     // exceeded_freq_range - ensures tuning remains inside frequency range
     bool exceeded_freq_range(float frequency);
 
-    // report gain formating helper
+    // report gain formatting helper
     void report_axis_gains(const char* axis_string, float rate_P, float rate_I, float rate_D, float rate_ff, float angle_P, float max_accel) const;
 
     // updating rate FF variables

libraries/AC_AutoTune/AC_AutoTune_Multi.cpp

@@ -484,7 +484,7 @@ void AC_AutoTune_Multi::report_final_gains(AxisType test_axis) const
     }
 }
 
-// report gain formating helper
+// report gain formatting helper
 void AC_AutoTune_Multi::report_axis_gains(const char* axis_string, float rate_P, float rate_I, float rate_D, float angle_P, float max_accel) const
 {
     gcs().send_text(MAV_SEVERITY_NOTICE,"AutoTune: %s complete", axis_string);

libraries/AC_AutoTune/AC_AutoTune_Multi.h

@@ -53,7 +53,7 @@ protected:
     // load test gains
     void load_test_gains() override;
 
-    // reset the test vaariables for multi
+    // reset the test variables for multi
     void reset_vehicle_test_variables() override {};
 
     // reset the update gain variables for multi
@@ -62,7 +62,7 @@ protected:
     void test_init() override;
     void test_run(AxisType test_axis, const float dir_sign) override;
 
-    // send intermittant updates to user on status of tune
+    // send intermittent updates to user on status of tune
     void do_gcs_announcements() override;
 
     // send post test updates to user
@@ -160,7 +160,7 @@ private:
     // P is increased until we achieve our target within a reasonable time
     void updating_angle_p_up(float &tune_p, float tune_p_max, float tune_p_step_ratio, float angle_target, float meas_angle_max, float meas_rate_min, float meas_rate_max);
 
-    // report gain formating helper
+    // report gain formatting helper
     void report_axis_gains(const char* axis_string, float rate_P, float rate_I, float rate_D, float angle_P, float max_accel) const;
 
     // parameters