diff --git a/libraries/AP_Math/SCurve.cpp b/libraries/AP_Math/SCurve.cpp
index 3ba6084fb6..0a534ca58f 100644
--- a/libraries/AP_Math/SCurve.cpp
+++ b/libraries/AP_Math/SCurve.cpp
@@ -737,7 +737,7 @@ void SCurve::add_segments(float L)
 // Am - maximum constant acceleration
 // Vm - maximum constant velocity
 // L - Length of the path
-// t2_out, t4_out, t6_out are the segment durations needed to achieve the kinimatic path specified by the input variables
+// t2_out, t4_out, t6_out are the segment durations needed to achieve the kinematic path specified by the input variables
 void SCurve::calculate_path(float tj, float Jm, float V0, float Am, float Vm, float L, float &Jm_out, float &t2_out, float &t4_out, float &t6_out)
 {
     // init outputs