Fix some typos

Most are typos, but some words changed to en-GB version.

AntennaTracker/AntennaTracker.txt

@@ -109,7 +109,7 @@ around. It might even damage itself.
 AntennaTracker (like other ardupilot software such as ArduPlane, ArduRover
 etc) has configuration values that control and tailor its operation, and which
 are stored in EEPROM on the processor. The configuration is restored from
-EEPROM every time the processsor starts.
+EEPROM every time the processor starts.
 
 You can use MissionPlanner, mavproxy or apm_planner or other mavlink compatible
 software to check and change the configuration of your AntennaTracker.
@@ -219,7 +219,7 @@ the vehicle, cd to the ArduPlane directory and run this:
 
   ../Tools/autotest/sim_arduplane.sh -T --aircraft test
 
-The -T flag tells sim_arduplane.sh to start an entenna tracker
+The -T flag tells sim_arduplane.sh to start an antenna tracker
 simulator and also start a virtual antenna tracker in a window.
 
 To start the antenna tracker running run "tracker start" in the

AntennaTracker/GCS_Mavlink.h

@@ -14,7 +14,7 @@ class GCS_MAVLINK_Tracker : public GCS_MAVLINK
 protected:
 
     // telem_delay is not used by Tracker but is pure virtual, thus
-    // this implementaiton.  it probably *should* be used by Tracker,
+    // this implementation.  it probably *should* be used by Tracker,
     // as currently Tracker may brick XBees
     uint32_t telem_delay() const override { return 0; }
 

AntennaTracker/Parameters.cpp

@@ -130,7 +130,7 @@ const AP_Param::Info Tracker::var_info[] = {
 
     // @Param: ONOFF_PITCH_MINT
     // @DisplayName: Pitch minimum movement time
-    // @Description: Minimim amount of time in seconds to move in pitch
+    // @Description: Minimum amount of time in seconds to move in pitch
     // @Units: s
     // @Increment: 0.01
     // @Range: 0 2

ArduCopter/AP_ExternalControl_Copter.cpp

@@ -19,7 +19,7 @@ bool AP_ExternalControl_Copter::set_linear_velocity_and_yaw_rate(const Vector3f
     }
     const float yaw_rate_cds = isnan(yaw_rate_rads)? 0: degrees(yaw_rate_rads)*100;
 
-    // Copter velocity is positive if aicraft is moving up which is opposite the incoming NED frame.
+    // Copter velocity is positive if aircraft is moving up which is opposite the incoming NED frame.
     Vector3f velocity_NEU_ms {
         linear_velocity.x,
         linear_velocity.y,

ArduCopter/crash_check.cpp

@@ -101,7 +101,7 @@ void Copter::thrust_loss_check()
 {
     static uint16_t thrust_loss_counter;  // number of iterations vehicle may have been crashed
 
-    // no-op if suppresed by flight options param
+    // no-op if suppressed by flight options param
     if ((copter.g2.flight_options & uint32_t(FlightOptions::DISABLE_THRUST_LOSS_CHECK)) != 0) {
         return;
     }
@@ -181,7 +181,7 @@ void Copter::thrust_loss_check()
 // check for a large yaw imbalance, could be due to badly calibrated ESC or misaligned motors
 void Copter::yaw_imbalance_check()
 {
-    // no-op if suppresed by flight options param
+    // no-op if suppressed by flight options param
     if ((copter.g2.flight_options & uint32_t(FlightOptions::DISABLE_YAW_IMBALANCE_WARNING)) != 0) {
         return;
     }

ArduCopter/mode_autorotate.cpp

@@ -47,7 +47,7 @@ bool ModeAutorotate::init(bool ignore_checks)
     // Display message 
     gcs().send_text(MAV_SEVERITY_INFO, "Autorotation initiated");
 
-     // Set all inial flags to on
+     // Set all intial flags to on
     _flags.entry_initial = 1;
     _flags.ss_glide_initial = 1;
     _flags.flare_initial = 1;
@@ -173,7 +173,7 @@ void ModeAutorotate::run()
                 g2.arot.set_desired_fwd_speed();
 
                 // Set target head speed in head speed controller
-                _target_head_speed = HEAD_SPEED_TARGET_RATIO;  //Ensure target hs is set to glide in case hs hasent reached target for glide
+                _target_head_speed = HEAD_SPEED_TARGET_RATIO;  //Ensure target hs is set to glide in case hs has not reached target for glide
                 g2.arot.set_target_head_speed(_target_head_speed);
 
                 // Prevent running the initial glide functions again

ArduCopter/mode_systemid.cpp

@@ -107,7 +107,7 @@ bool ModeSystemId::init(bool ignore_checks)
 // systemId_exit - clean up systemId controller before exiting
 void ModeSystemId::exit()
 {
-    // reset the feedfoward enabled parameter to the initialized state
+    // reset the feedforward enabled parameter to the initialized state
     attitude_control->bf_feedforward(att_bf_feedforward);
 }
 

ArduPlane/Attitude.cpp

@@ -32,7 +32,7 @@ float Plane::calc_speed_scaler(void)
                 speed_scaler = MIN(speed_scaler, new_scaler);
 
                 // we also decay the integrator to prevent an integrator from before
-                // we were at low speed persistint at high speed
+                // we were at low speed persistent at high speed
                 rollController.decay_I();
                 pitchController.decay_I();
                 yawController.decay_I();
@@ -51,7 +51,7 @@ float Plane::calc_speed_scaler(void)
     }
     if (!plane.ahrs.airspeed_sensor_enabled()  && 
         (plane.flight_option_enabled(FlightOptions::SURPRESS_TKOFF_SCALING)) &&
-        (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF)) { //scaling is surpressed during climb phase of automatic takeoffs with no airspeed sensor being used due to problems with inaccurate airspeed estimates
+        (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF)) { //scaling is suppressed during climb phase of automatic takeoffs with no airspeed sensor being used due to problems with inaccurate airspeed estimates
         return MIN(speed_scaler, 1.0f) ;
     }
     return speed_scaler;
@@ -486,7 +486,7 @@ int16_t Plane::calc_nav_yaw_coordinated()
         // user is doing an AUTOTUNE with yaw rate control
         const float rudd_expo = rudder_in_expo(true);
         const float yaw_rate = (rudd_expo/SERVO_MAX) * g.acro_yaw_rate;
-        // add in the corrdinated turn yaw rate to make it easier to fly while tuning the yaw rate controller
+        // add in the coordinated turn yaw rate to make it easier to fly while tuning the yaw rate controller
         const float coordination_yaw_rate = degrees(GRAVITY_MSS * tanf(radians(nav_roll_cd*0.01f))/MAX(aparm.airspeed_min,smoothed_airspeed));
         commanded_rudder = yawController.get_rate_out(yaw_rate+coordination_yaw_rate,  speed_scaler, false);
         using_rate_controller = true;
@@ -658,11 +658,11 @@ void Plane::update_load_factor(void)
         nav_roll_cd = constrain_int32(nav_roll_cd, -2500, 2500);
         roll_limit_cd = MIN(roll_limit_cd, 2500);
     } else if (max_load_factor < aerodynamic_load_factor) {
-        // the demanded nav_roll would take us past the aerodymamic
+        // the demanded nav_roll would take us past the aerodynamic
         // load limit. Limit our roll to a bank angle that will keep
         // the load within what the airframe can handle. We always
         // allow at least 25 degrees of roll however, to ensure the
-        // aircraft can be maneuvered with a bad airspeed estimate. At
+        // aircraft can be manoeuvred with a bad airspeed estimate. At
         // 25 degrees the load factor is 1.1 (10%)
         int32_t roll_limit = degrees(acosf(sq(1.0f / max_load_factor)))*100;
         if (roll_limit < 2500) {

ArduPlane/Parameters.cpp

@@ -159,7 +159,7 @@ const AP_Param::Info Plane::var_info[] = {
 
     // @Param: TKOFF_TDRAG_SPD1
     // @DisplayName: Takeoff tail dragger speed1
-    // @Description: This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to genetly hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.
+    // @Description: This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to gently hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.
     // @Units: m/s
     // @Range: 0 30
     // @Increment: 0.1

ArduPlane/Parameters.h

@@ -421,7 +421,7 @@ class Parameters {
     AP_Int8 flight_mode6;
     AP_Int8 initial_mode;
 
-    // Navigational maneuvering limits
+    // Navigational manoeuvring limits
     //
     AP_Int16 alt_offset;
     AP_Int16 acro_roll_rate;
@@ -541,7 +541,7 @@ class ParametersG2 {
     AP_Int8 crow_flap_options;
     AP_Int8 crow_flap_aileron_matching;
 
-    // Forward throttle battery voltage compenstaion
+    // Forward throttle battery voltage compensation
     AP_Float fwd_thr_batt_voltage_max;
     AP_Float fwd_thr_batt_voltage_min;
     AP_Int8  fwd_thr_batt_idx;

ArduPlane/Plane.h

@@ -246,7 +246,7 @@ class Plane : public AP_Vehicle {
 #endif
 
 #if HAL_RALLY_ENABLED
-    // Rally Ponints
+    // Rally Points
     AP_Rally rally;
 #endif
 
@@ -312,7 +312,7 @@ class Plane : public AP_Vehicle {
 
     // Failsafe
     struct {
-        // Used to track if the value on channel 3 (throtttle) has fallen below the failsafe threshold
+        // Used to track if the value on channel 3 (throttle) has fallen below the failsafe threshold
         // RC receiver should be set up to output a low throttle value when signal is lost
         bool rc_failsafe;
 
@@ -618,7 +618,7 @@ class Plane : public AP_Vehicle {
     // The instantaneous desired pitch angle.  Hundredths of a degree
     int32_t nav_pitch_cd;
 
-    // the aerodymamic load factor. This is calculated from the demanded
+    // the aerodynamic load factor. This is calculated from the demanded
     // roll before the roll is clipped, using 1/sqrt(cos(nav_roll))
     float aerodynamic_load_factor = 1.0f;
 
@@ -771,7 +771,7 @@ class Plane : public AP_Vehicle {
     AP_Mount camera_mount;
 #endif
 
-    // Arming/Disarming mangement class
+    // Arming/Disarming management class
     AP_Arming_Plane arming;
 
     AP_Param param_loader {var_info};

ArduPlane/ReleaseNotes.txt

@@ -284,7 +284,7 @@ of changes. Many thanks to all the people who have contributed!
     - Gimbal/Mount2 can be moved to retracted or neutral position
     - Gremsy ZIO support
     - IMAGE_START_CAPTURE, SET_CAMERA_ZOOM/FOCUS, VIDEO_START/STOP_CAPTURE command support
-    - Paramters renamed and rescaled
+    - Parameters renamed and rescaled
         i) CAM_TRIGG_TYPE renamed to CAM1_TYPE and options have changed
         ii) CAM_DURATION renamed to CAM1_DURATION and scaled in seconds
         iii) CAM_FEEDBACK_PIN/POL renamed to CAM1_FEEBAK_PIN/POL

ArduPlane/ekf_check.cpp

@@ -112,7 +112,7 @@ bool Plane::ekf_over_threshold()
         return false;
     }
 
-    // Get EKF innovations normalised wrt the innovaton test limits.
+    // Get EKF innovations normalised wrt the innovation test limits.
     // A value above 1.0 means the EKF has rejected that sensor data
     float position_variance, vel_variance, height_variance, tas_variance;
     Vector3f mag_variance;
@@ -157,7 +157,7 @@ void Plane::failsafe_ekf_event()
     ekf_check_state.failsafe_on = true;
     AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_OCCURRED);
 
-    // if not in a VTOL mode requring position, then nothing needs to be done
+    // if not in a VTOL mode requiring position, then nothing needs to be done
 #if HAL_QUADPLANE_ENABLED
     if (!quadplane.in_vtol_posvel_mode()) {
         return;

ArduPlane/events.cpp

@@ -140,7 +140,7 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
         if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) {
 #if PARACHUTE == ENABLED
             parachute_release();
-            //stop motors to avoide parachute tangling
+            //stop motors to avoid parachute tangling
             plane.arming.disarm(AP_Arming::Method::PARACHUTE_RELEASE, false);
 #endif
         } else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) {
@@ -183,7 +183,7 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
         if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) {
 #if PARACHUTE == ENABLED
             parachute_release();
-            //stop motors to avoide parachute tangling
+            //stop motors to avoid parachute tangling
             plane.arming.disarm(AP_Arming::Method::PARACHUTE_RELEASE, false);
 #endif
         } else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) {

ArduPlane/is_flying.cpp

@@ -261,7 +261,7 @@ void Plane::crash_detection_update(void)
                 if (g.takeoff_throttle_min_accel > 0 &&
                         !throttle_suppressed) {
                     // if you have an acceleration holding back throttle, but you met the
-                    // accel threshold but still not fying, then you either shook/hit the
+                    // accel threshold but still not flying, then you either shook/hit the
                     // plane or it was a failed launch.
                     crashed = true;
                     crash_state.debounce_time_total_ms = CRASH_DETECTION_DELAY_MS;

ArduPlane/mode_acro.cpp

@@ -68,7 +68,7 @@ void ModeAcro::stabilize()
         int32_t roll_error_cd = -ToDeg(acro_state.locked_roll_err)*100;
         plane.nav_roll_cd = ahrs.roll_sensor + roll_error_cd;
         // try to reduce the integrated angular error to zero. We set
-        // 'stabilze' to true, which disables the roll integrator
+        // 'stabilize' to true, which disables the roll integrator
         SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.rollController.get_servo_out(roll_error_cd,
                                                                                              speed_scaler,
                                                                                              true, false));

ArduPlane/mode_qacro.cpp

@@ -9,7 +9,7 @@ bool ModeQAcro::_enter()
     quadplane.transition->force_transition_complete();
     attitude_control->relax_attitude_controllers();
 
-    // disable yaw rate time contant to mantain old behaviour
+    // disable yaw rate time constant to maintain old behaviour
     quadplane.disable_yaw_rate_time_constant();
 
     IGNORE_RETURN(ahrs.get_quaternion(plane.mode_acro.acro_state.q));

ArduPlane/mode_qrtl.cpp

@@ -126,7 +126,7 @@ void ModeQRTL::run()
 
             ftype alt_diff;
             if (!stopping_loc.get_alt_distance(plane.next_WP_loc, alt_diff) || is_positive(alt_diff)) {
-                // climb finshed or cant get alt diff, head home
+                // climb finished or cant get alt diff, head home
                 submode = SubMode::RTL;
                 plane.prev_WP_loc = plane.current_loc;
 

ArduPlane/mode_qstabilize.cpp

@@ -83,7 +83,7 @@ void ModeQStabilize::set_tailsitter_roll_pitch(const float roll_input, const flo
     plane.quadplane.transition->set_VTOL_roll_pitch_limit(plane.nav_roll_cd, plane.nav_pitch_cd);
 }
 
-// set the desired roll and pitch for normal quadplanes, also limited by forward flight limtis
+// set the desired roll and pitch for normal quadplanes, also limited by forward flight limits
 void ModeQStabilize::set_limited_roll_pitch(const float roll_input, const float pitch_input)
 {
     plane.nav_roll_cd = roll_input * MIN(plane.roll_limit_cd, plane.quadplane.aparm.angle_max);

ArduPlane/motor_test.cpp

@@ -67,7 +67,7 @@ void QuadPlane::motor_test_output()
 
     // sanity check throttle values
     if (pwm >= RC_Channel::RC_MIN_LIMIT_PWM && pwm <= RC_Channel::RC_MAX_LIMIT_PWM) {
-        // turn on motor to specified pwm vlaue
+        // turn on motor to specified pwm value
         motors->output_test_seq(motor_test.seq, pwm);
     } else {
         motor_test_stop();

ArduPlane/navigation.cpp

@@ -73,7 +73,7 @@ void Plane::loiter_angle_update(void)
         loiter.next_sum_lap_cd = loiter.sum_cd + lap_check_interval_cd;
 
     } else if (!loiter.reached_target_alt && labs(loiter.sum_cd) >= loiter.next_sum_lap_cd) {
-        // check every few laps for scenario where up/downdrafts inhibit you from loitering up/down for too long
+        // check every few laps for scenario where up/downward inhibit you from loitering up/down for too long
         loiter.unable_to_acheive_target_alt = labs(current_loc.alt - loiter.start_lap_alt_cm) < 500;
         loiter.start_lap_alt_cm = current_loc.alt;
         loiter.next_sum_lap_cd += lap_check_interval_cd;
@@ -188,7 +188,7 @@ void Plane::calc_airspeed_errors()
                                   get_throttle_input()) + ((int32_t)aparm.airspeed_min * 100);
         }
 #if OFFBOARD_GUIDED == ENABLED
-    } else if (control_mode == &mode_guided && guided_state.target_airspeed_cm >  0.0) { // if offbd guided speed change cmd not set, then this section is skipped
+    } else if (control_mode == &mode_guided && guided_state.target_airspeed_cm >  0.0) { // if offboard guided speed change cmd not set, then this section is skipped
         // offboard airspeed demanded
         uint32_t now = AP_HAL::millis();
         float delta = 1e-3f * (now - guided_state.target_airspeed_time_ms);

ArduPlane/quadplane.cpp

@@ -400,7 +400,7 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
 
     // @Param: ASSIST_ALT
     // @DisplayName: Quadplane assistance altitude
-    // @Description: This is the altitude below which quadplane assistance will be triggered. This acts the same way as Q_ASSIST_ANGLE and Q_ASSIST_SPEED, but triggers if the aircraft drops below the given altitude while the VTOL motors are not running. A value of zero disables this feature. The altutude is calculated as being above ground level. The height above ground is given from a Lidar used if available and RNGFND_LANDING=1. Otherwise it comes from terrain data if TERRAIN_FOLLOW=1 and comes from height above home otherwise.
+    // @Description: This is the altitude below which quadplane assistance will be triggered. This acts the same way as Q_ASSIST_ANGLE and Q_ASSIST_SPEED, but triggers if the aircraft drops below the given altitude while the VTOL motors are not running. A value of zero disables this feature. The altitude is calculated as being above ground level. The height above ground is given from a Lidar used if available and RNGFND_LANDING=1. Otherwise it comes from terrain data if TERRAIN_FOLLOW=1 and comes from height above home otherwise.
     // @Units: m
     // @Range: 0 120
     // @Increment: 1
@@ -524,7 +524,7 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
 
     // @Param: FWD_THR_USE
     // @DisplayName: Q mode forward throttle use
-    // @Description: This parameter determines when the feature that uses forward throttle insread of forward tilt is used. The amount of forward throttle is controlled by the Q_FWD_THR_GAIN parameter. The maximum amount of forward pitch allowed is controlled by the Q_FWD_PIT_LIM parameter. Q_FWD_THR_USE = 0 disables the feature. Q_FWD_THR_USE = 1 enables the feature in all position controlled modes such as QLOITER, QLAND, QRTL and VTOL TAKEOFF. Q_FWD_THR_USE = 2 enables the feature in all Q modes except QAUTOTUNE and QACRO. When enabling the feature, the legacy method of controlling forward throttle use via velocity controller error should be disabled by setting Q_VFWD_GAIN to 0. Do not use this feature with tailsitters.
+    // @Description: This parameter determines when the feature that uses forward throttle instead of forward tilt is used. The amount of forward throttle is controlled by the Q_FWD_THR_GAIN parameter. The maximum amount of forward pitch allowed is controlled by the Q_FWD_PIT_LIM parameter. Q_FWD_THR_USE = 0 disables the feature. Q_FWD_THR_USE = 1 enables the feature in all position controlled modes such as QLOITER, QLAND, QRTL and VTOL TAKEOFF. Q_FWD_THR_USE = 2 enables the feature in all Q modes except QAUTOTUNE and QACRO. When enabling the feature, the legacy method of controlling forward throttle use via velocity controller error should be disabled by setting Q_VFWD_GAIN to 0. Do not use this feature with tailsitters.
     // @Values: 0:Off,1:On in all position controlled Q modes,2:On in all Q modes except QAUTOTUNE and QACRO
     // @User: Standard
     AP_GROUPINFO("FWD_THR_USE", 37, QuadPlane, q_fwd_thr_use, uint8_t(FwdThrUse::OFF)),