diff --git a/libraries/AC_PrecLand/AC_PrecLand.cpp b/libraries/AC_PrecLand/AC_PrecLand.cpp index 7019898b14..57223e1f66 100644 --- a/libraries/AC_PrecLand/AC_PrecLand.cpp +++ b/libraries/AC_PrecLand/AC_PrecLand.cpp @@ -150,7 +150,7 @@ const AP_Param::GroupInfo AC_PrecLand::var_info[] = { // @Param: TIMEOUT // @DisplayName: PrecLand retry timeout - // @Description: Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attemp a landing retry depending on PLND_STRICT parameter. + // @Description: Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attempt a landing retry depending on PLND_STRICT parameter. // @Range: 0 20 // @Units: s AP_GROUPINFO("TIMEOUT", 13, AC_PrecLand, _retry_timeout_sec, 4), @@ -400,7 +400,7 @@ bool AC_PrecLand::target_acquired() { if ((AP_HAL::millis()-_last_update_ms) > LANDING_TARGET_TIMEOUT_MS) { if (_target_acquired) { - // just lost the landing target, inform the user. This message will only be sent once everytime target is lost + // just lost the landing target, inform the user. This message will only be sent once every time target is lost gcs().send_text(MAV_SEVERITY_CRITICAL, "PrecLand: Target Lost"); } // not had a sensor update since a long time @@ -622,7 +622,7 @@ bool AC_PrecLand::retrieve_los_meas(Vector3f& target_vec_unit_body) } - // rotate vector based on sensor oriention to get correct body frame vector + // rotate vector based on sensor orientation to get correct body frame vector if (_orient != ROTATION_PITCH_270) { // by default, the vector is constructed downwards in body frame // hence, we do not do any rotation if the orientation is downwards diff --git a/libraries/AC_PrecLand/AC_PrecLand.h b/libraries/AC_PrecLand/AC_PrecLand.h index d7d866369d..a25b30c71f 100644 --- a/libraries/AC_PrecLand/AC_PrecLand.h +++ b/libraries/AC_PrecLand/AC_PrecLand.h @@ -188,7 +188,7 @@ private: AP_Float _xy_max_dist_desc; // Vehicle doing prec land will only descent vertically when horizontal error (in m) is below this limit AP_Int8 _strict; // PrecLand strictness AP_Int8 _retry_max; // PrecLand Maximum number of retires to a failed landing - AP_Float _retry_timeout_sec; // Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attemp a landing retry depending on PLND_STRICT param. + AP_Float _retry_timeout_sec; // Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attempt a landing retry depending on PLND_STRICT param. AP_Int8 _retry_behave; // Action to do when trying a landing retry AP_Float _sensor_min_alt; // PrecLand minimum height required for detecting target AP_Float _sensor_max_alt; // PrecLand maximum height the sensor can detect target diff --git a/libraries/AC_PrecLand/AC_PrecLand_StateMachine.cpp b/libraries/AC_PrecLand/AC_PrecLand_StateMachine.cpp index c456288ca2..0d38584cee 100644 --- a/libraries/AC_PrecLand/AC_PrecLand_StateMachine.cpp +++ b/libraries/AC_PrecLand/AC_PrecLand_StateMachine.cpp @@ -7,11 +7,11 @@ #include #include -static const float MAX_POS_ERROR_M = 0.75f; // Maximum possition error for retry locations +static const float MAX_POS_ERROR_M = 0.75f; // Maximum position error for retry locations static const uint32_t FAILSAFE_INIT_TIMEOUT_MS = 7000; // Timeout in ms before failsafe measures are started. During this period vehicle is completely stopped to give user the time to take over static const float RETRY_OFFSET_ALT_M = 1.5f; // This gets added to the altitude of the retry location -// Initialize the state machine. This is called everytime vehicle switches mode +// Initialize the state machine. This is called every time vehicle switches mode void AC_PrecLand_StateMachine::init() { AC_PrecLand *_precland = AP::ac_precland(); @@ -24,14 +24,14 @@ void AC_PrecLand_StateMachine::init() // precland is not enabled, prec land state machine methods should not be called! return; } - // init is only called ONCE per mode change. So in a particuar mode we can retry only a finite times. + // init is only called ONCE per mode change. So in a particular mode we can retry only a finite times. // The counter will be reset if the statemachine is called from a different mode _retry_count = 0; // reset every other statemachine reset_failed_landing_statemachine(); } -// Reset the landing statemachines. This needs to be called everytime the landing target is back in sight. +// Reset the landing statemachines. This needs to be called every time the landing target is back in sight. // So that if the landing target goes out of sight again, we can start the failed landing procedure back from the beginning stage void AC_PrecLand_StateMachine::reset_failed_landing_statemachine() { diff --git a/libraries/AC_PrecLand/AC_PrecLand_StateMachine.h b/libraries/AC_PrecLand/AC_PrecLand_StateMachine.h index 8479be3c6a..e52e3effc9 100644 --- a/libraries/AC_PrecLand/AC_PrecLand_StateMachine.h +++ b/libraries/AC_PrecLand/AC_PrecLand_StateMachine.h @@ -23,7 +23,7 @@ public: // Do not allow copies CLASS_NO_COPY(AC_PrecLand_StateMachine); - // Initialize the state machine. This is called everytime vehicle switches mode + // Initialize the state machine. This is called every time vehicle switches mode void init(); // Current status of the precland state machine @@ -78,7 +78,7 @@ private: // Vector3f "retry_pos_m" is filled with the required location. Status retry_landing(Vector3f &retry_pos_m); - // Reset the landing statemachine. This needs to be called everytime the landing target is back in sight. + // Reset the landing statemachine. This needs to be called every time the landing target is back in sight. // So that if the landing target goes out of sight again, we can start the failed landing procedure back from the beginning stage void reset_failed_landing_statemachine();