AP_NavEKF2: Improve comments, typos

libraries/AP_NavEKF2/AP_NavEKF2.cpp

@@ -667,7 +667,7 @@ bool NavEKF2::InitialiseFilter(void)
         primary = 0;
     }
 
-    // initialse the cores. We return success only if all cores
+    // initialise the cores. We return success only if all cores
     // initialise successfully
     bool ret = true;
     for (uint8_t i=0; i<num_cores; i++) {

libraries/AP_NavEKF2/AP_NavEKF2.h

@@ -162,7 +162,7 @@ public:
     bool 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 setOriginLLH(const Location &loc);

libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp

@@ -427,7 +427,7 @@ void NavEKF2_core::FuseSideslip()
         }
     }
 
-    // force the covariance matrix to me symmetrical and limit the variances to prevent ill-condiioning.
+    // force the covariance matrix to be symmetrical and limit the variances to prevent ill-condiioning.
     ForceSymmetry();
     ConstrainVariances();
 

libraries/AP_NavEKF2/AP_NavEKF2_Buffer.h

@@ -70,7 +70,7 @@ public:
         if (success) {
             element = buffer[bestIndex].element;
             _tail = (bestIndex+1)%_size;
-            //make time zero to stop using it again, 
+            //make time zero to stop using it again,
             //resolves corner case of reusing the element when head == tail
             buffer[bestIndex].element.time_ms = 0;
             return true;

libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp

@@ -163,7 +163,7 @@ void NavEKF2_core::realignYawGPS()
 
             // calculate new filter quaternion states from Euler angles
             stateStruct.quat.from_euler(eulerAngles.x, eulerAngles.y, gpsYaw);
-            // reset the velocity and posiiton states as they will be inaccurate due to bad yaw
+            // reset the velocity and position states as they will be inaccurate due to bad yaw
             ResetVelocity();
             ResetPosition();
 

libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp

@@ -609,7 +609,7 @@ void NavEKF2_core::calcFiltGpsHgtOffset()
     }
     lastOriginHgtTime_ms = imuDataDelayed.time_ms;
 
-    // calculate the observation variance assuming EKF error relative to datum is independant of GPS observation error
+    // calculate the observation variance assuming EKF error relative to datum is independent of GPS observation error
     // when not using GPS as height source
     float originHgtObsVar = sq(gpsHgtAccuracy) + P[8][8];
 
@@ -661,7 +661,7 @@ void NavEKF2_core::readAirSpdData()
 *              Range Beacon Measurements                *
 ********************************************************/
 
-// check for new airspeed data and update stored measurements if available
+// check for new range beacon data and push to data buffer if available
 void NavEKF2_core::readRngBcnData()
 {
     // get the location of the beacon data

libraries/AP_NavEKF2/AP_NavEKF2_RngBcnFusion.cpp

@@ -249,8 +249,8 @@ void NavEKF2_core::FuseRngBcn()
 }
 
 /*
-Use range beaon measurements to calculate a static position using a 3-state EKF algorithm.
-Algorihtm based on the following:
+Use range beacon measurements to calculate a static position using a 3-state EKF algorithm.
+Algorithm based on the following:
 https://github.com/priseborough/InertialNav/blob/master/derivations/range_beacon.m
 */
 void NavEKF2_core::FuseRngBcnStatic()
@@ -260,7 +260,7 @@ void NavEKF2_core::FuseRngBcnStatic()
 
     /*
     The first thing to do is to check if we have started the alignment and if not, initialise the
-    states and covariance to a first guess. To do this iterate through the avilable beacons and then
+    states and covariance to a first guess. To do this iterate through the available beacons and then
     initialise the initial position to the mean beacon position. The initial position uncertainty
     is set to the mean range measurement.
     */

libraries/AP_NavEKF2/AP_NavEKF2_core.h

@@ -159,7 +159,7 @@ public:
     bool 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 setOriginLLH(const Location &loc);