AP_AHRS: Fix some typos

Fixed some typos found in the code.

libraries/AP_AHRS/AP_AHRS.cpp

@@ -242,7 +242,7 @@ void AP_AHRS::init()
 #endif
 
 #if !APM_BUILD_TYPE(APM_BUILD_AP_Periph)
-    // convert to new custom rotaton
+    // convert to new custom rotation
     // PARAMETER_CONVERSION - Added: Nov-2021
     if (_board_orientation == ROTATION_CUSTOM_OLD) {
         _board_orientation.set_and_save(ROTATION_CUSTOM_1);
@@ -590,7 +590,7 @@ void AP_AHRS::update_EKF2(void)
             float &abias = state.accel_bias.z;
             EKF2.getAccelZBias(abias);
 
-            // This EKF is currently using primary_imu, and abias applies to only that IMU
+            // This EKF is currently using primary_imu, and a bias applies to only that IMU
             Vector3f accel = _ins.get_accel(primary_accel);
             accel.z -= abias;
             state.accel_ef = state.dcm_matrix * get_rotation_autopilot_body_to_vehicle_body() * accel;
@@ -653,7 +653,7 @@ void AP_AHRS::update_EKF3(void)
             // use the same IMU as the primary EKF and correct for gyro drift
             state.gyro_estimate = _ins.get_gyro(primary_gyro) + state.gyro_drift;
 
-            // get 3-axis accel bias festimates for active EKF (this is usually for the primary IMU)
+            // get 3-axis accel bias estimates for active EKF (this is usually for the primary IMU)
             Vector3f &abias = state.accel_bias;
             EKF3.getAccelBias(-1,abias);
 
@@ -821,7 +821,7 @@ bool AP_AHRS::airspeed_sensor_enabled(void) const
         // special case for when backend is rejecting airspeed data in
         // an armed fly_forward state and not dead reckoning. Then the
         // airspeed data is highly suspect and will be rejected. We
-        // will use the synthentic airspeed instead
+        // will use the synthetic airspeed instead
         return false;
     }
     return true;
@@ -1507,7 +1507,7 @@ bool AP_AHRS::get_mag_field_correction(Vector3f &vec) const
 }
 
 // Get a derivative of the vertical position which is kinematically consistent with the vertical position is required by some control loops.
-// This is different to the vertical velocity from the EKF which is not always consistent with the verical position due to the various errors that are being corrected for.
+// This is different to the vertical velocity from the EKF which is not always consistent with the vertical position due to the various errors that are being corrected for.
 bool AP_AHRS::get_vert_pos_rate_D(float &velocity) const
 {
     switch (active_EKF_type()) {
@@ -2118,7 +2118,7 @@ bool AP_AHRS::pre_arm_check(bool requires_position, char *failure_msg, uint8_t f
 
 #if HAL_EXTERNAL_AHRS_ENABLED
     // Always check external AHRS if enabled
-    // it is a source for IMU data even if not being used as direct AHRS replacment
+    // it is a source for IMU data even if not being used as direct AHRS replacement
     if (AP::externalAHRS().enabled() || (ekf_type() == EKFType::EXTERNAL)) {
         if (!AP::externalAHRS().pre_arm_check(failure_msg, failure_msg_len)) {
             return false;
@@ -2923,7 +2923,7 @@ void AP_AHRS::set_terrain_hgt_stable(bool stable)
 #endif
 }
 
-// return the innovations for the primariy EKF
+// return the innovations for the primarily EKF
 // boolean false is returned if innovations are not available
 bool AP_AHRS::get_innovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov) const
 {
@@ -2987,7 +2987,7 @@ bool AP_AHRS::is_vibration_affected() const
 
 // get_variances - provides the innovations normalised using the innovation variance where a value of 0
 // indicates prefect consistency between the measurement and the EKF solution and a value of 1 is the maximum
-// inconsistency that will be accpeted by the filter
+// inconsistency that will be accepted by the filter
 // boolean false is returned if variances are not available
 bool AP_AHRS::get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const
 {

libraries/AP_AHRS/AP_AHRS_DCM.cpp

@@ -271,7 +271,7 @@ AP_AHRS_DCM::renorm(Vector3f const &a, Vector3f &result)
     // additional error buildup.
 
     // Note that we can get significant renormalisation values
-    // when we have a larger delta_t due to a glitch eleswhere in
+    // when we have a larger delta_t due to a glitch elsewhere in
     // APM, such as a I2c timeout or a set of EEPROM writes. While
     // we would like to avoid these if possible, if it does happen
     // we don't want to compound the error by making DCM less
@@ -428,7 +428,7 @@ bool AP_AHRS_DCM::use_compass(void)
         return false;
     }
     if (!AP::ahrs().get_fly_forward() || !have_gps()) {
-        // we don't have any alterative to the compass
+        // we don't have any alternative to the compass
         return true;
     }
     if (AP::gps().ground_speed() < GPS_SPEED_MIN) {
@@ -463,7 +463,7 @@ bool AP_AHRS_DCM::get_quaternion(Quaternion &quat) const
 }
 
 // yaw drift correction using the compass or GPS
-// this function prodoces the _omega_yaw_P vector, and also
+// this function produces the _omega_yaw_P vector, and also
 // contributes to the _omega_I.z long term yaw drift estimate
 void
 AP_AHRS_DCM::drift_correction_yaw(void)
@@ -573,8 +573,8 @@ AP_AHRS_DCM::drift_correction_yaw(void)
     // that depends on the spin rate. See the fastRotations.pdf
     // paper from Bill Premerlani
     // We also adjust the gain depending on the rate of change of horizontal velocity which
-    // is proportional to how observable the heading is from the acceerations and GPS velocity
+    // is proportional to how observable the heading is from the accelerations and GPS velocity
-    // The accelration derived heading will be more reliable in turns than compass or GPS
+    // The acceleration derived heading will be more reliable in turns than compass or GPS
 
     _omega_yaw_P.z = error_z * _P_gain(spin_rate) * _kp_yaw * _yaw_gain();
     if (use_fast_gains()) {
@@ -1061,7 +1061,7 @@ bool AP_AHRS_DCM::airspeed_estimate(float &airspeed_ret) const
 bool AP_AHRS_DCM::airspeed_estimate(uint8_t airspeed_index, float &airspeed_ret) const
 {
     // airspeed_ret: will always be filled-in by get_unconstrained_airspeed_estimate which fills in airspeed_ret in this order:
-    //               airspeed as filled-in by an enabled airsped sensor
+    //               airspeed as filled-in by an enabled airspeed sensor
     //               if no airspeed sensor: airspeed estimated using the GPS speed & wind_speed_estimation
     //               Or if none of the above, fills-in using the previous airspeed estimate
     // Return false: if we are using the previous airspeed estimate
@@ -1085,7 +1085,7 @@ bool AP_AHRS_DCM::airspeed_estimate(uint8_t airspeed_index, float &airspeed_ret)
 }
 
 // airspeed_ret: will always be filled-in by get_unconstrained_airspeed_estimate which fills in airspeed_ret in this order:
-//               airspeed as filled-in by an enabled airsped sensor
+//               airspeed as filled-in by an enabled airspeed sensor
 //               if no airspeed sensor: airspeed estimated using the GPS speed & wind_speed_estimation
 //               Or if none of the above, fills-in using the previous airspeed estimate
 // Return false: if we are using the previous airspeed estimate

libraries/AP_AHRS/AP_AHRS_DCM.h

@@ -172,7 +172,7 @@ private:
     void            reset(bool recover_eulers);
 
     // airspeed_ret: will always be filled-in by get_unconstrained_airspeed_estimate which fills in airspeed_ret in this order:
-    //               airspeed as filled-in by an enabled airsped sensor
+    //               airspeed as filled-in by an enabled airspeed sensor
     //               if no airspeed sensor: airspeed estimated using the GPS speed & wind_speed_estimation
     //               Or if none of the above, fills-in using the previous airspeed estimate
     // Return false: if we are using the previous airspeed estimate