diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 1723d71901..30c6478304 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -1547,7 +1547,7 @@ void AP_InertialSensor::set_delta_angle(uint8_t instance, const Vector3f &deltaa
 /*
  * Get an AuxiliaryBus on the backend identified by @backend_id
  */
-AuxiliaryBus *AP_InertialSensor::get_auxiliar_bus(int16_t backend_id)
+AuxiliaryBus *AP_InertialSensor::get_auxiliary_bus(int16_t backend_id)
 {
     _detect_backends();
 
@@ -1555,7 +1555,7 @@ AuxiliaryBus *AP_InertialSensor::get_auxiliar_bus(int16_t backend_id)
     if (backend == NULL)
         return NULL;
 
-    return backend->get_auxiliar_bus();
+    return backend->get_auxiliary_bus();
 }
 
 #if INS_VIBRATION_CHECK
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h
index 52e11eb4fd..6631b2f108 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.h
@@ -236,7 +236,8 @@ public:
     void set_delta_velocity(uint8_t instance, float deltavt, const Vector3f &deltav);
     void set_delta_angle(uint8_t instance, const Vector3f &deltaa);
 
-    AuxiliaryBus *get_auxiliar_bus(int16_t backend_id);
+    AuxiliaryBus *get_auxiliary_bus(int16_t backend_id);
+    AuxiliaryBus *get_auxiliar_bus(int16_t backend_id) { return get_auxiliary_bus(backend_id); }
 
 private:
 
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
index da5c14e1cb..38857f3d9a 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
@@ -64,7 +64,7 @@ public:
     /*
      * Return an AuxiliaryBus if backend has another bus it is able to export
      */
-    virtual AuxiliaryBus *get_auxiliar_bus() { return nullptr; }
+    virtual AuxiliaryBus *get_auxiliary_bus() { return nullptr; }
 
     /*
       return the product ID
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
index 220654de6f..1a9c2deaa0 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
@@ -306,7 +306,7 @@ AP_HAL::Semaphore* AP_MPU6000_BusDriver_SPI::get_semaphore()
     return _spi->get_semaphore();
 }
 
-bool AP_MPU6000_BusDriver_SPI::has_auxiliar_bus()
+bool AP_MPU6000_BusDriver_SPI::has_auxiliary_bus()
 {
     return true;
 }
@@ -415,7 +415,7 @@ AP_HAL::Semaphore* AP_MPU6000_BusDriver_I2C::get_semaphore()
     return _i2c->get_semaphore();
 }
 
-bool AP_MPU6000_BusDriver_I2C::has_auxiliar_bus()
+bool AP_MPU6000_BusDriver_I2C::has_auxiliary_bus()
 {
     return false;
 }
@@ -459,7 +459,7 @@ AP_InertialSensor_MPU6000::AP_InertialSensor_MPU6000(AP_InertialSensor &imu, AP_
 AP_InertialSensor_MPU6000::~AP_InertialSensor_MPU6000()
 {
     delete _bus;
-    delete _auxiliar_bus;
+    delete _auxiliary_bus;
     delete _samples;
 }
 
@@ -707,15 +707,15 @@ bool AP_InertialSensor_MPU6000::update( void )
     return true;
 }
 
-AuxiliaryBus *AP_InertialSensor_MPU6000::get_auxiliar_bus()
+AuxiliaryBus *AP_InertialSensor_MPU6000::get_auxiliary_bus()
 {
-    if (_auxiliar_bus)
-        return _auxiliar_bus;
+    if (_auxiliary_bus)
+        return _auxiliary_bus;
 
-    if (_bus->has_auxiliar_bus())
-        _auxiliar_bus = new AP_MPU6000_AuxiliaryBus(*this);
+    if (_bus->has_auxiliary_bus())
+        _auxiliary_bus = new AP_MPU6000_AuxiliaryBus(*this);
 
-    return _auxiliar_bus;
+    return _auxiliary_bus;
 }
 
 /*================ HARDWARE FUNCTIONS ==================== */
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
index 2383f02e85..f567624c29 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
@@ -51,7 +51,7 @@ public:
                             AP_HAL::DigitalSource *_drdy_pin,
                             uint8_t &n_samples) = 0;
     virtual AP_HAL::Semaphore* get_semaphore() = 0;
-    virtual bool has_auxiliar_bus() = 0;
+    virtual bool has_auxiliary_bus() = 0;
 };
 
 class AP_InertialSensor_MPU6000 : public AP_InertialSensor_Backend
@@ -79,7 +79,7 @@ public:
     /*
      * Return an AuxiliaryBus if the bus driver allows it
      */
-    AuxiliaryBus *get_auxiliar_bus() override;
+    AuxiliaryBus *get_auxiliary_bus() override;
 
     void start() override;
 
@@ -112,7 +112,7 @@ private:
     AP_MPU6000_BusDriver *_bus;
     AP_HAL::Semaphore    *_bus_sem;
 
-    AP_MPU6000_AuxiliaryBus *_auxiliar_bus = nullptr;
+    AP_MPU6000_AuxiliaryBus *_auxiliary_bus = nullptr;
 
     static const float   _gyro_scale;
 
@@ -161,7 +161,7 @@ public:
                                AP_HAL::DigitalSource *_drdy_pin,
                                uint8_t &n_samples);
     AP_HAL::Semaphore* get_semaphore();
-    bool has_auxiliar_bus() override;
+    bool has_auxiliary_bus() override;
 
 private:
     AP_HAL::SPIDeviceDriver *_spi;
@@ -184,7 +184,7 @@ public:
                                AP_HAL::DigitalSource *_drdy_pin,
                                uint8_t &n_samples);
     AP_HAL::Semaphore* get_semaphore();
-    bool has_auxiliar_bus() override;
+    bool has_auxiliary_bus() override;
 
 private:
     uint8_t _addr;