diff --git a/libraries/AC_AutoTune/AC_AutoTune.h b/libraries/AC_AutoTune/AC_AutoTune.h index 206050f702..e152af4999 100644 --- a/libraries/AC_AutoTune/AC_AutoTune.h +++ b/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 diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp b/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp index 346a8143fe..d72a6db6fe 100644 --- a/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp +++ b/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 diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.h b/libraries/AC_AutoTune/AC_AutoTune_Heli.h index cf94173791..6329563b02 100644 --- a/libraries/AC_AutoTune/AC_AutoTune_Heli.h +++ b/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 diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp index 6e414b76d8..bf988c187a 100644 --- a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp +++ b/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); diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.h b/libraries/AC_AutoTune/AC_AutoTune_Multi.h index 5374a432f8..b2a02fcdc6 100644 --- a/libraries/AC_AutoTune/AC_AutoTune_Multi.h +++ b/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