diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
index 5cffc698ba..66fed0b077 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -419,7 +419,7 @@ const AP_Param::GroupInfo NavEKF3::var_info[] = {
     // 36 was LOG_MASK, used for specifying which IMUs/cores to log
     // replay data for
 
-    // control of magentic yaw angle fusion
+    // control of magnetic yaw angle fusion
 
     // @Param: YAW_M_NSE
     // @DisplayName: Yaw measurement noise (rad)
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index efe1a9429b..c28a0335b7 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -1299,7 +1299,7 @@ private:
     uint32_t takeoffExpectedSet_ms;   // system time at which expectTakeoff was set
     bool expectTakeoff;               // external state from vehicle conrol code - takeoff expected
 
-    // control of post takeoff magentic field and heading resets
+    // control of post takeoff magnetic field and heading resets
     bool finalInflightYawInit;      // true when the final post takeoff initialisation of yaw angle has been performed
     uint8_t magYawAnomallyCount;    // Number of times the yaw has been reset due to a magnetic anomaly during initial ascent
     bool finalInflightMagInit;      // true when the final post takeoff initialisation of magnetic field states been performed