diff --git a/libraries/AP_Gripper/AP_Gripper.cpp b/libraries/AP_Gripper/AP_Gripper.cpp index 7392c01030..56831d3702 100644 --- a/libraries/AP_Gripper/AP_Gripper.cpp +++ b/libraries/AP_Gripper/AP_Gripper.cpp @@ -51,7 +51,7 @@ const AP_Param::GroupInfo AP_Gripper::var_info[] = { // @DisplayName: Gripper Regrab interval // @Description: Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable // @User: Advanced - // @Values: 0 255 + // @Range: 0 255 // @Units: seconds AP_GROUPINFO("REGRAB", 5, AP_Gripper, config.regrab_interval, GRIPPER_REGRAB_DEFAULT), diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp index 013175ae41..b976f7ba4e 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp @@ -485,7 +485,7 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = { // @Param: TERR_GRAD // @DisplayName: Maximum terrain gradient - // @Description: Specifies the maxium gradient of the terrain below the vehicle when it is using range finder as a height reference + // @Description: Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference // @Range: 0 0.2 // @Increment: 0.01 // @User: Advanced diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp index 2cd40c9ea6..68f33d8e5d 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp @@ -717,10 +717,10 @@ void NavEKF2_core::FuseMagnetometer() * Fuse magnetic heading measurement using explicit algebraic equations generated with Matlab symbolic toolbox. * The script file used to generate these and other equations in this filter can be found here: * https://github.com/priseborough/InertialNav/blob/master/derivations/RotationVectorAttitudeParameterisation/GenerateNavFilterEquations.m - * This fusion method only modifies the orientation, does not require use of the magnetic field states and is computatonally cheaper. + * This fusion method only modifies the orientation, does not require use of the magnetic field states and is computationally cheaper. * It is suitable for use when the external magnetic field environment is disturbed (eg close to metal structures, on ground). - * It is not as robust to magneometer failures. - * It is not suitable for operation where the horizontal magnetic field strength is weak (within 30 degreees latitude of the the magnetic poles) + * It is not as robust to magnetometer failures. + * It is not suitable for operation where the horizontal magnetic field strength is weak (within 30 degrees latitude of the the magnetic poles) */ void NavEKF2_core::fuseEulerYaw() { diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp index 45407dc471..d441aeb419 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp @@ -1,3 +1,5 @@ +/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- + #include #if HAL_CPU_CLASS >= HAL_CPU_CLASS_150 @@ -195,7 +197,7 @@ void NavEKF2_core::ResetHeight(void) bool NavEKF2_core::resetHeightDatum(void) { if (activeHgtSource == HGT_SOURCE_RNG) { - // by definition the height dataum is at ground level so cannot perform the reset + // by definition the height datum is at ground level so cannot perform the reset return false; } // record the old height estimate @@ -204,7 +206,7 @@ bool NavEKF2_core::resetHeightDatum(void) frontend->_baro.update_calibration(); // reset the height state stateStruct.position.z = 0.0f; - // adjust the height of the EKF origin so that the origin plus baro height before and afer the reset is the same + // adjust the height of the EKF origin so that the origin plus baro height before and after the reset is the same if (validOrigin) { EKF_origin.alt += oldHgt*100; } diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp index bcee1bcc52..ee457eda84 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp @@ -475,7 +475,7 @@ const AP_Param::GroupInfo NavEKF3::var_info[] = { // @Param: TERR_GRAD // @DisplayName: Maximum terrain gradient - // @Description: Specifies the maxium gradient of the terrain below the vehicle when it is using range finder as a height reference + // @Description: Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference // @Range: 0 0.2 // @Increment: 0.01 // @User: Advanced @@ -518,7 +518,7 @@ const AP_Param::GroupInfo NavEKF3::var_info[] = { // @Param: ACC_BIAS_LIM // @DisplayName: Accelerometer bias limit - // @Description: The accelerometer bias state will be limited to +- this vlaue + // @Description: The accelerometer bias state will be limited to +- this value // @Range: 0.5 2.5 // @Increment: 0.1 // @User: Advanced @@ -796,7 +796,7 @@ void NavEKF3::getVelNED(int8_t instance, Vector3f &vel) } } -// Return the rate of change of vertical position in the down diection (dPosD/dt) in m/s +// Return the rate of change of vertical position in the down direction (dPosD/dt) in m/s float NavEKF3::getPosDownDerivative(int8_t instance) { if (instance < 0 || instance >= num_cores) instance = primary; @@ -976,7 +976,7 @@ bool NavEKF3::getOriginLLH(struct Location &loc) const } // set the latitude and longitude and height used to set the NED origin -// All NED positions calcualted by the filter will be relative to this location +// All NED positions calculated by the filter will be relative to this location // The origin cannot be set if the filter is in a flight mode (eg vehicle armed) // Returns false if the filter has rejected the attempt to set the origin bool NavEKF3::setOriginLLH(struct Location &loc) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp index b309cfdd8b..b5afea3faf 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp @@ -702,10 +702,10 @@ void NavEKF3_core::FuseMagnetometer() * Fuse magnetic heading measurement using explicit algebraic equations generated with Matlab symbolic toolbox. * The script file used to generate these and other equations in this filter can be found here: * https://github.com/priseborough/InertialNav/blob/master/derivations/RotationVectorAttitudeParameterisation/GenerateNavFilterEquations.m - * This fusion method only modifies the orientation, does not require use of the magnetic field states and is computatonally cheaper. + * This fusion method only modifies the orientation, does not require use of the magnetic field states and is computationally cheaper. * It is suitable for use when the external magnetic field environment is disturbed (eg close to metal structures, on ground). - * It is not as robust to magneometer failures. - * It is not suitable for operation where the horizontal magnetic field strength is weak (within 30 degreees latitude of the the magnetic poles) + * It is not as robust to magnetometer failures. + * It is not suitable for operation where the horizontal magnetic field strength is weak (within 30 degrees latitude of the the magnetic poles) */ void NavEKF3_core::fuseEulerYaw() { diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp index 77faf87249..ceb7c5888c 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp @@ -197,7 +197,7 @@ void NavEKF3_core::ResetHeight(void) bool NavEKF3_core::resetHeightDatum(void) { if (activeHgtSource == HGT_SOURCE_RNG) { - // by definition the height dataum is at ground level so cannot perform the reset + // by definition the height datum is at ground level so cannot perform the reset return false; } // record the old height estimate @@ -206,7 +206,7 @@ bool NavEKF3_core::resetHeightDatum(void) frontend->_baro.update_calibration(); // reset the height state stateStruct.position.z = 0.0f; - // adjust the height of the EKF origin so that the origin plus baro height before and afer the reset is the same + // adjust the height of the EKF origin so that the origin plus baro height before and after the reset is the same if (validOrigin) { EKF_origin.alt += oldHgt*100; }