Spelling errors (#19935)

2026-02-06 14:47:49 +08:00 · 2022-07-27 14:33:16 +10:00
parent 97f632a408
commit e6eed43648
97 changed files with 170 additions and 158 deletions
--- a/ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo.main.mix
+++ b/ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo.main.mix
@@ -5,7 +5,7 @@ Tailsitter duo mixer
 This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
 has two motors in total, one attached to each wing. It also has two elevons which
 are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
+on the main PWM output port, two at 400Hz for the motors, and two at 50Hz for the
 elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
 at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.

--- a/ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo_sat.main.mix
+++ b/ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo_sat.main.mix
@@ -4,7 +4,7 @@ Tailsitter duo mixer
 This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
 has two motors in total, one attached to each wing. It also has two elevons which
 are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
+on the main PWM output port, two at 400Hz for the motors, and two at 50Hz for the
 elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
 at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.

--- a/Tools/mavlink_px4.py
+++ b/Tools/mavlink_px4.py
@@ -3019,7 +3019,7 @@ class MAVLink(object):
                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
                press_abs                 : Absolute pressure (hectopascal) (float)
                press_diff                : Differential pressure 1 (hectopascal) (float)
-                temperature               : Temperature measurement (0.01 degrees celsius) (int16_t)
+                temperature               : Temperature measurement (0.01 degrees Celsius) (int16_t)

                '''
                msg = MAVLink_scaled_pressure_message(time_boot_ms, press_abs, press_diff, temperature)
@@ -3035,7 +3035,7 @@ class MAVLink(object):
                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
                press_abs                 : Absolute pressure (hectopascal) (float)
                press_diff                : Differential pressure 1 (hectopascal) (float)
-                temperature               : Temperature measurement (0.01 degrees celsius) (int16_t)
+                temperature               : Temperature measurement (0.01 degrees Celsius) (int16_t)

                '''
                return self.send(self.scaled_pressure_encode(time_boot_ms, press_abs, press_diff, temperature))
@@ -4879,7 +4879,7 @@ class MAVLink(object):
                abs_pressure              : Absolute pressure in millibar (float)
                diff_pressure             : Differential pressure in millibar (float)
                pressure_alt              : Altitude calculated from pressure (float)
-                temperature               : Temperature in degrees celsius (float)
+                temperature               : Temperature in degrees Celsius (float)
                fields_updated            : Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature (uint16_t)

                '''
@@ -4904,7 +4904,7 @@ class MAVLink(object):
                abs_pressure              : Absolute pressure in millibar (float)
                diff_pressure             : Differential pressure in millibar (float)
                pressure_alt              : Altitude calculated from pressure (float)
-                temperature               : Temperature in degrees celsius (float)
+                temperature               : Temperature in degrees Celsius (float)
                fields_updated            : Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature (uint16_t)

                '''
--- a/Tools/px4moduledoc/markdownout.py
+++ b/Tools/px4moduledoc/markdownout.py
@@ -14,12 +14,14 @@ class MarkdownOutput():

        result = """
 # Modules & Commands Reference
-The following pages document the PX4 modules, drivers and commands. They
-describe the provided functionality, high-level implementation overview and how
+
+The following pages document the PX4 modules, drivers and commands.
+They describe the provided functionality, high-level implementation overview and how
 to use the command-line interface.

-> **Note** **This is auto-generated from the source code** and contains the
-> most recent modules documentation.
+:::note
+**This is auto-generated from the source code** and contains the most recent modules documentation.
+:::

 It is not a complete list and NuttX provides some additional commands
 as well (such as `free`). Use `help` on the console to get a list of all
@@ -29,6 +31,7 @@ Since this is generated from source, errors must be reported/fixed
 in the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository.
 The documentation pages can be generated by running the following command from
 the root of the PX4-Autopilot directory:
+
 ```
 make module_documentation
 ```
--- a/Tools/setup/ubuntu.sh
+++ b/Tools/setup/ubuntu.sh
@@ -104,7 +104,7 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 echo
 echo "Installing PX4 Python3 dependencies"
 if [ -n "$VIRTUAL_ENV" ]; then
-	# virtual envrionments don't allow --user option
+	# virtual environments don't allow --user option
 	python -m pip install -r ${DIR}/requirements.txt
 else
 	# older versions of Ubuntu require --user option
--- a/boards/nxp/fmuk66-e/src/spi.cpp
+++ b/boards/nxp/fmuk66-e/src/spi.cpp
@@ -110,7 +110,7 @@ __EXPORT void board_spi_reset(int ms, int bus_mask)
 	VDD_3V3_SENSORS_EN(true);
 	up_mdelay(2);

-	/* Restore all the CS to ouputs inactive */
+	/* Restore all the CS to outputs inactive */

 	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
 		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
--- a/boards/nxp/fmuk66-v3/src/spi.cpp
+++ b/boards/nxp/fmuk66-v3/src/spi.cpp
@@ -124,7 +124,7 @@ __EXPORT void board_spi_reset(int ms, int bus_mask)
 	VDD_3V3_SENSORS_EN(true);
 	up_mdelay(2);

-	/* Restore all the CS to ouputs inactive */
+	/* Restore all the CS to outputs inactive */

 	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
 		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
--- a/boards/nxp/fmurt1062-v1/nuttx-config/scripts/ocram-script.ld
+++ b/boards/nxp/fmurt1062-v1/nuttx-config/scripts/ocram-script.ld
@@ -35,7 +35,7 @@
 ****************************************************************************/

 /* The FMURT1062 has 8MiB of QSPI FLASH beginning at address,
- * 0x0060:0000, Upto 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM
+ * 0x0060:0000, Up to 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM
 * beginning at 0x2020:0000.  Neither DTCM or SDRAM are used in this
 * configuration.
 *
@@ -43,7 +43,7 @@
 * 256Kib to OCRRAM, 128Kib ITCM and 128Kib DTCM.
 * This can be changed by using a dcd by minipulating
 * IOMUX GPR16 and GPR17.
- * The configuartion we will use is 384Kib to OCRRAM, 0Kib ITCM and
+ * The configuration we will use is 384Kib to OCRRAM, 0Kib ITCM and
 * 128Kib DTCM.
 *
 * This is the OCRAM inker script.
--- a/boards/nxp/fmurt1062-v1/nuttx-config/scripts/script.ld
+++ b/boards/nxp/fmurt1062-v1/nuttx-config/scripts/script.ld
@@ -35,7 +35,7 @@
 ****************************************************************************/

 /* The FMURT1062 has 8MiB of QSPI FLASH beginning at address,
- * 0x0060:0000, Upto 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM
+ * 0x0060:0000, Up to 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM
 * beginning at 0x2020:0000.  Neither DTCM or SDRAM are used in this
 * configuratin.
 */
--- a/boards/nxp/ucans32k146/src/spi.cpp
+++ b/boards/nxp/ucans32k146/src/spi.cpp
@@ -93,7 +93,7 @@ __EXPORT void board_spi_reset(int ms, int bus_mask)
 		}
 	}

-	/* Restore all the CS to ouputs inactive */
+	/* Restore all the CS to outputs inactive */
 	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
 		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
 			for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
--- a/integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py
+++ b/integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py
@@ -68,7 +68,7 @@ class MavrosOffboardAttctlTest(MavrosTestCommon):
        self.att_setpoint_pub = rospy.Publisher(
            'mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1)

-        # send setpoints in seperate thread to better prevent failsafe
+        # send setpoints in separate thread to better prevent failsafe
        self.att_thread = Thread(target=self.send_att, args=())
        self.att_thread.daemon = True
        self.att_thread.start()
--- a/integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py
+++ b/integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py
@@ -73,7 +73,7 @@ class MavrosOffboardPosctlTest(MavrosTestCommon):
        self.pos_setpoint_pub = rospy.Publisher(
            'mavros/setpoint_position/local', PoseStamped, queue_size=1)

-        # send setpoints in seperate thread to better prevent failsafe
+        # send setpoints in separate thread to better prevent failsafe
        self.pos_thread = Thread(target=self.send_pos, args=())
        self.pos_thread.daemon = True
        self.pos_thread.start()
--- a/integrationtests/python_src/px4_it/mavros/mavros_offboard_yawrate_test.py
+++ b/integrationtests/python_src/px4_it/mavros/mavros_offboard_yawrate_test.py
@@ -66,7 +66,7 @@ class MavrosOffboardYawrateTest(MavrosTestCommon):
        self.att_setpoint_pub = rospy.Publisher(
            'mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1)

-        # send setpoints in seperate thread to better prevent failsafe
+        # send setpoints in separate thread to better prevent failsafe
        self.att_thread = Thread(target=self.send_att, args=())
        self.att_thread.daemon = True
        self.att_thread.start()
--- a/msg/airspeed.msg
+++ b/msg/airspeed.msg
@@ -5,6 +5,6 @@ float32 indicated_airspeed_m_s   # indicated airspeed in m/s

 float32 true_airspeed_m_s        # true filtered airspeed in m/s

-float32 air_temperature_celsius  # air temperature in degrees celsius, -1000 if unknown
+float32 air_temperature_celsius  # air temperature in degrees Celsius, -1000 if unknown

 float32 confidence               # confidence value from 0 to 1 for this sensor
--- a/msg/battery_status.msg
+++ b/msg/battery_status.msg
@@ -21,7 +21,7 @@ uint16 capacity				# actual capacity of the battery
 uint16 cycle_count			# number of discharge cycles the battery has experienced
 uint16 average_time_to_empty	# predicted remaining battery capacity based on the average rate of discharge in min
 uint16 serial_number		# serial number of the battery pack
-uint16 manufacture_date		# manufacture date, part of serial number of the battery pack. formated as: Day + Month×32 + (Year–1980)×512
+uint16 manufacture_date		# manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
 uint16 state_of_health		# state of health. FullChargeCapacity/DesignCapacity, 0-100%.
 uint16 max_error			# max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
 uint8 id					# ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.
--- a/msg/cellular_status.msg
+++ b/msg/cellular_status.msg
@@ -17,7 +17,7 @@ uint8 CELLULAR_STATUS_FLAG_CONNECTED=12  # One or more packet data bearers is ac
 uint8 CELLULAR_NETWORK_FAILED_REASON_NONE=0 # No error
 uint8 CELLULAR_NETWORK_FAILED_REASON_UNKNOWN=1 # Error state is unknown
 uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_MISSING=2 # SIM is required for the modem but missing
-uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_ERROR=3 # SIM is available, but not usuable for connection
+uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_ERROR=3 # SIM is available, but not usable for connection

 uint16 status 	# Status bitmap 1: Roaming is active
 uint8 failure_reason #Failure reason when status in in CELLUAR_STATUS_FAILED
--- a/msg/differential_pressure.msg
+++ b/msg/differential_pressure.msg
@@ -5,6 +5,6 @@ uint32 device_id                     # unique device ID for the sensor that does

 float32 differential_pressure_pa     # differential pressure reading in Pascals (may be negative)

-float32 temperature                  # Temperature provided by sensor in celcius, NAN if unknown
+float32 temperature                  # Temperature provided by sensor in degrees Celsius, NAN if unknown

 uint32 error_count                   # Number of errors detected by driver
--- a/msg/estimator_event_flags.msg
+++ b/msg/estimator_event_flags.msg
@@ -30,7 +30,7 @@ bool gps_data_stopped_using_alternate   #  3 - true when the gps data has stoppe
 bool height_sensor_timeout              #  4 - true when the height sensor has not been used to correct the state estimates for a significant time period
 bool stopping_navigation                #  5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
 bool invalid_accel_bias_cov_reset       #  6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements
-bool bad_yaw_using_gps_course           #  7 - true when the fiter has detected an invalid yaw esitmate and has reset the yaw angle to the GPS ground course
+bool bad_yaw_using_gps_course           #  7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course
 bool stopping_mag_use                   #  8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetomer data
 bool vision_data_stopped                #  9 - true when the vision system data has stopped for a significant time period
 bool emergency_yaw_reset_mag_stopped    # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetomer data
--- a/msg/estimator_innovations.msg
+++ b/msg/estimator_innovations.msg
@@ -18,8 +18,8 @@ float32 rng_vpos	# range sensor height innovation (m) and innovation variance (m
 float32 baro_vpos	# barometer height innovation (m) and innovation variance (m**2)

 # Auxiliary velocity
-float32[2] aux_hvel	# horizontal auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
-float32    aux_vvel	# vertical auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
+float32[2] aux_hvel	# horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
+float32    aux_vvel	# vertical auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)

 # Optical flow
 float32[2] flow		# flow innvoation (rad/sec) and innovation variance ((rad/sec)**2)
--- a/msg/estimator_status_flags.msg
+++ b/msg/estimator_status_flags.msg
@@ -9,7 +9,7 @@ bool cs_yaw_align             #  1 - true if the filter yaw alignment is complet
 bool cs_gps                   #  2 - true if GPS measurement fusion is intended
 bool cs_opt_flow              #  3 - true if optical flow measurements fusion is intended
 bool cs_mag_hdg               #  4 - true if a simple magnetic yaw heading fusion is intended
-bool cs_mag_3d                #  5 - true if 3-axis magnetometer measurement fusion is inteded
+bool cs_mag_3d                #  5 - true if 3-axis magnetometer measurement fusion is intended
 bool cs_mag_dec               #  6 - true if synthetic magnetic declination measurements fusion is intended
 bool cs_in_air                #  7 - true when the vehicle is airborne
 bool cs_wind                  #  8 - true when wind velocity is being estimated
--- a/msg/gps_dump.msg
+++ b/msg/gps_dump.msg
@@ -3,7 +3,7 @@

 uint64 timestamp		# time since system start (microseconds)

-uint8 instance 		# Instance of GNSS reciever
+uint8 instance 		# Instance of GNSS receiver

 uint8 len			# length of data, MSB bit set = message to the gps device,
 				# clear = message from the device
--- a/msg/input_rc.msg
+++ b/msg/input_rc.msg
@@ -29,8 +29,8 @@ int32 rssi				# receive signal strength indicator (RSSI): < 0: Undefined, 0: no
 bool rc_failsafe			# explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly.
 bool rc_lost				# RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usually means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss.

-uint16 rc_lost_frame_count		# Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.
-uint16 rc_total_frame_count		# Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.
+uint16 rc_lost_frame_count		# Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
+uint16 rc_total_frame_count		# Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
 uint16 rc_ppm_frame_length		# Length of a single PPM frame. Zero for non-PPM systems

 uint8 input_source			# Input source
--- a/msg/iridiumsbd_status.msg
+++ b/msg/iridiumsbd_status.msg
@@ -4,7 +4,7 @@ uint16 tx_buf_write_index			# current size of the tx buffer
 uint16 rx_buf_read_index			# the rx buffer is parsed up to that index
 uint16 rx_buf_end_index				# current size of the rx buffer
 uint16 failed_sbd_sessions			# number of failed sbd sessions
-uint16 successful_sbd_sessions      # number of successfull sbd sessions
+uint16 successful_sbd_sessions      # number of successful sbd sessions
 uint16 num_tx_buf_reset             # number of times the tx buffer was reset
 uint8 signal_quality                # current signal quality, 0 is no signal, 5 the best
 uint8 state                         # current state of the driver, see the satcom_state of IridiumSBD.h for the definition
--- a/msg/led_control.msg
+++ b/msg/led_control.msg
@@ -24,7 +24,7 @@ uint8 MODE_BLINK_FAST = 5
 uint8 MODE_BREATHE = 6 # continuously increase & decrease brightness (solid color if driver does not support it)
 uint8 MODE_FLASH = 7 # two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while

-uint8 MAX_PRIORITY = 2 # maxium priority (minimum is 0)
+uint8 MAX_PRIORITY = 2 # maximum priority (minimum is 0)


 uint8 led_mask # bitmask which LED(s) to control, set to 0xff for all
--- a/msg/rpm.msg
+++ b/msg/rpm.msg
@@ -1,4 +1,4 @@
 uint64 timestamp                      # time since system start (microseconds)

 float32 indicated_frequency_rpm       # indicated rotor Frequency in Revolution per minute
-float32 estimated_accurancy_rpm       # estimated accurancy in Revolution per minute
+float32 estimated_accurancy_rpm       # estimated accuracy in Revolution per minute
--- a/msg/sensor_hygrometer.msg
+++ b/msg/sensor_hygrometer.msg
@@ -3,6 +3,6 @@ uint64 timestamp_sample

 uint32 device_id          # unique device ID for the sensor that does not change between power cycles

-float32  temperature      # Temperature provided by sensor (Celcius)
+float32  temperature      # Temperature provided by sensor (Celsius)

 float32 humidity          # Humidity provided by sensor
--- a/msg/takeoff_status.msg
+++ b/msg/takeoff_status.msg
@@ -1,4 +1,4 @@
-# Status of the takeoff state machine currently just availble for multicopters
+# Status of the takeoff state machine currently just available for multicopters

 uint64 timestamp # time since system start (microseconds)

@@ -11,4 +11,4 @@ uint8 TAKEOFF_STATE_FLIGHT            = 5

 uint8 takeoff_state

-float32 tilt_limit # limited tilt feasability during takeoff, contains maximum tilt otherwise
+float32 tilt_limit # limited tilt feasibility during takeoff, contains maximum tilt otherwise
--- a/msg/tools/px_generate_uorb_topic_files.py
+++ b/msg/tools/px_generate_uorb_topic_files.py
@@ -413,7 +413,7 @@ def convert_dir(format_idx, inputdir, outputdir, package, templatedir):
 def copy_changed(inputdir, outputdir, prefix='', quiet=False):
    """
    Copies files from inputdir to outputdir if they don't exist in
-    ouputdir or if their content changed
+    outputdir or if their content changed
    """

    # Make sure output directory exists:
--- a/msg/uwb_distance.msg
+++ b/msg/uwb_distance.msg
@@ -8,8 +8,8 @@ uint32 	sessionid		# UWB SessionID
 uint32 	time_offset		# Time between Ranging Rounds in ms
 uint16 	status			# status feedback #

-uint16[12] anchor_distance	# distance in cm to each UWB Anchor (UWB Device wich takes part in Ranging)
+uint16[12] anchor_distance	# distance in cm to each UWB Anchor (UWB Device which takes part in Ranging)
 bool[12] nlos			# Visual line of sight yes/no
-float32[12] aoafirst		# Angle of arrival of first incomming RX msg
+float32[12] aoafirst		# Angle of arrival of first incoming RX msg

 float32[3] position		# Position of the Landing point in relation to the Drone (x,y,z in Meters NED)
--- a/msg/vehicle_command.msg
+++ b/msg/vehicle_command.msg
@@ -99,7 +99,7 @@ uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006            # Magnetometer calibrati

 # PX4 vehicle commands (beyond 16 bit mavlink commands)
 uint32 VEHICLE_CMD_PX4_INTERNAL_START    = 65537        # start of PX4 internal only vehicle commands (> UINT16_MAX)
-uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000       # Sets the GPS co-ordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude|Longitude|Altitude|
+uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000       # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude|Longitude|Altitude|

 uint8 VEHICLE_MOUNT_MODE_RETRACT = 0			# Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization |
 uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1			# Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |
--- a/msg/vehicle_odometry.msg
+++ b/msg/vehicle_odometry.msg
@@ -32,7 +32,7 @@ float32 y			# East position
 float32 z			# Down position

 # Orientation quaternion. First value NaN if invalid/unknown
-float32[4] q			# Quaternion rotation from FRD body frame to refernce frame
+float32[4] q			# Quaternion rotation from FRD body frame to reference frame
 float32[4] q_offset		# Quaternion rotation from odometry reference frame to navigation frame

 # Row-major representation of 6x6 pose cross-covariance matrix URT.
--- a/platforms/common/include/px4_platform_common/board_common.h
+++ b/platforms/common/include/px4_platform_common/board_common.h
@@ -854,7 +854,7 @@ __EXPORT void board_get_uuid32(uuid_uint32_t uuid_words); // DEPRICATED use boar
 *
 * Input Parameters:
 *   format_buffer - A pointer to a bufferer of at least PX4_CPU_UUID_WORD32_FORMAT_SIZE
- *                   that will contain a 0 terminated string formated as described
+ *                   that will contain a 0 terminated string formatted as described
 *                   the format string and optional separator.
 *   size          - The size of the buffer (should be atleaset PX4_CPU_UUID_WORD32_FORMAT_SIZE)
 *   format        - The fort mat specifier for the hex digit see CPU_UUID_FORMAT
@@ -870,7 +870,7 @@ __EXPORT void board_get_uuid32(uuid_uint32_t uuid_words); // DEPRICATED use boar
 *                               3238333641203833355110
 *
 * Returned Value:
- *   The format buffer is populated with a 0 terminated string formated as described.
+ *   The format buffer is populated with a 0 terminated string formatted as described.
 *   Zero (OK) is returned on success;
 *
 ************************************************************************************/
@@ -907,7 +907,7 @@ int board_get_mfguid(mfguid_t mfgid);
 *
 * Input Parameters:
 *   format_buffer - A pointer to a bufferer of at least PX4_CPU_MFGUID_FORMAT_SIZE
- *                   that will contain a 0 terminated string formated as 0 prefixed
+ *                   that will contain a 0 terminated string formatted as 0 prefixed
 *                   lowercase hex. 2 charaters per digit of the mfguid_t.
 *
 * Returned Value:
@@ -964,7 +964,7 @@ int board_get_px4_guid(px4_guid_t guid);
 *   manufactures Unique ID or define BOARD_OVERRIDE_PX4_GUID
 *
 * Input Parameters:
- * format_buffer - A buffer to receive the 0 terminated formated px4
+ * format_buffer - A buffer to receive the 0 terminated formatted px4
 *                 guid string.
 * size          - Size of the buffer provided. Normally this would
 *                 be PX4_GUID_FORMAT_SIZE.
--- a/platforms/common/include/px4_platform_common/log.h
+++ b/platforms/common/include/px4_platform_common/log.h
@@ -33,7 +33,7 @@

 /**
 * @file log.h
- * Platform dependant logging/debug implementation
+ * Platform dependent logging/debug implementation
 */

 #pragma once
--- a/platforms/posix/src/px4/common/main.cpp
+++ b/platforms/posix/src/px4/common/main.cpp
@@ -541,7 +541,7 @@ int run_startup_script(const std::string &commands_file, const std::string &abso
 void wait_to_exit()
 {
 	while (!_exit_requested) {
-		// needs to be a regular sleep not dependant on lockstep (not px4_usleep)
+		// needs to be a regular sleep not dependent on lockstep (not px4_usleep)
 		usleep(100000);
 	}
 }
--- a/src/drivers/batt_smbus/batt_smbus.cpp
+++ b/src/drivers/batt_smbus/batt_smbus.cpp
@@ -523,7 +523,7 @@ $ batt_smbus -X write_flash 19069 2 27 0

 	PRINT_MODULE_USAGE_COMMAND_DESCR("man_info", "Prints manufacturer info.");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("unseal", "Unseals the devices flash memory to enable write_flash commands.");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("seal", "Seals the devices flash memory to disbale write_flash commands.");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("seal", "Seals the devices flash memory to disable write_flash commands.");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("suspend", "Suspends the driver from rescheduling the cycle.");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("resume", "Resumes the driver from suspension.");

--- a/src/drivers/camera_trigger/camera_trigger.cpp
+++ b/src/drivers/camera_trigger/camera_trigger.cpp
@@ -35,7 +35,7 @@
 * @file camera_trigger.cpp
 *
 * External camera-IMU synchronisation and triggering, and support for
- * camera manipulation using PWM signals over FMU auxillary pins.
+ * camera manipulation using PWM signals over FMU auxiliary pins.
 *
 * @author Mohammed Kabir <kabir@uasys.io>
 * @author Kelly Steich <kelly.steich@wingtra.com>
--- a/src/drivers/cyphal/parameters.c
+++ b/src/drivers/cyphal/parameters.c
@@ -123,7 +123,7 @@ PARAM_DEFINE_INT32(UCAN1_BMS_BS_SUB, -1);
 PARAM_DEFINE_INT32(UCAN1_BMS_BP_SUB, -1);

 /**
- * Cyphal leagcy battery port ID.
+ * Cyphal legacy battery port ID.
 *
 * @min -1
 * @max 6143
--- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_print.h
+++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/platform/argus_print.h
@@ -54,7 +54,7 @@
 #include "api/argus_def.h"

 /*!***************************************************************************
- * @brief	A printf-like function to print formated data to an debugging interface.
+ * @brief	A printf-like function to print formatted data to an debugging interface.
 *
 * @details Writes the C string pointed by fmt_t to an output. If format
 * 			includes format specifiers (subsequences beginning with %), the
--- a/src/drivers/distance_sensor/pga460/pga460.cpp
+++ b/src/drivers/distance_sensor/pga460/pga460.cpp
@@ -482,10 +482,12 @@ int PGA460::print_usage(const char *reason)
 	PRINT_MODULE_DESCRIPTION(
 		R"DESCR_STR(
 ### Description
+
 Ultrasonic range finder driver that handles the communication with the device and publishes the distance via uORB.

 ### Implementation
-This driver is implented as a NuttX task. This Implementation was chosen due to the need for polling on a message
+
+This driver is implemented as a NuttX task. This Implementation was chosen due to the need for polling on a message
 via UART, which is not supported in the work_queue. This driver continuously takes range measurements while it is
 running. A simple algorithm to detect false readings is implemented at the driver levelin an attemptto improve
 the quality of data that is being published. The driver will not publish data at all if it deems the sensor data
--- a/src/drivers/distance_sensor/pga460/pga460.h
+++ b/src/drivers/distance_sensor/pga460/pga460.h
@@ -286,7 +286,7 @@ public:
 	int read_eeprom();

 	/**
-	 * @brief Writes the user defined paramaters to device EEPROM.
+	 * @brief Writes the user defined parameters to device EEPROM.
 	 * @return Returns true if the EEPROM was successfully written to.
 	 */
 	int write_eeprom();
@@ -341,7 +341,7 @@ private:
 	int initialize_device_settings();

 	/**
-	 * @brief Writes the user defined paramaters to device register map.
+	 * @brief Writes the user defined parameters to device register map.
 	 * @return Returns true if the thresholds were successfully written.
 	 */
 	int initialize_thresholds();
--- a/src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.hpp
+++ b/src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.hpp
@@ -71,7 +71,7 @@ using namespace time_literals;

 /**
 * Assume standard deviation to be equal to sensor resolution.
- * Static bench tests have shown that the sensor ouput does
+ * Static bench tests have shown that the sensor output does
 * not vary if the unit is not moved.
 */
 #define SENS_VARIANCE           0.045f * 0.045f
--- a/src/drivers/drv_led.h
+++ b/src/drivers/drv_led.h
@@ -44,7 +44,7 @@

 #include <board_config.h>

-// allow the board to override the number (or maxiumum number) of LED's it has
+// allow the board to override the number (or maximum number) of LED's it has
 #ifndef BOARD_MAX_LEDS
 #define BOARD_MAX_LEDS 4
 #endif
--- a/src/drivers/imu/fxas21002c/FXAS21002C.cpp
+++ b/src/drivers/imu/fxas21002c/FXAS21002C.cpp
@@ -39,7 +39,7 @@
 #define FXAS21002C_MAX_RATE              800
 #define FXAS21002C_DEFAULT_RATE          FXAS21002C_MAX_RATE
 #define FXAS21002C_DEFAULT_RANGE_DPS     2000
-#define FXAS21002C_DEFAULT_ONCHIP_FILTER_FREQ 	64 // ODR dependant
+#define FXAS21002C_DEFAULT_ONCHIP_FILTER_FREQ 	64 // ODR dependent

 /*
  we set the timer interrupt to run a bit faster than the desired
--- a/src/drivers/power_monitor/voxlpm/voxlpm.cpp
+++ b/src/drivers/power_monitor/voxlpm/voxlpm.cpp
@@ -96,7 +96,7 @@ VOXLPM::init()
 		ret = init_ina231();

 	} else {
-		PX4_ERR("Unkown device address");
+		PX4_ERR("Unknown device address");
 		ret = PX4_ERROR;
 	}

--- a/src/drivers/roboclaw/roboclaw_main.cpp
+++ b/src/drivers/roboclaw/roboclaw_main.cpp
@@ -85,8 +85,8 @@ static void usage()
 This driver communicates over UART with the [Roboclaw motor driver](http://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf).
 It performs two tasks:

- - Control the motors based on the `actuator_controls_0` UOrb topic.
- - Read the wheel encoders and publish the raw data in the `wheel_encoders` UOrb topic
+- Control the motors based on the `actuator_controls_0` UOrb topic.
+- Read the wheel encoders and publish the raw data in the `wheel_encoders` UOrb topic

 In order to use this driver, the Roboclaw should be put into Packet Serial mode (see the linked documentation), and
 your flight controller's UART port should be connected to the Roboclaw as shown in the documentation. For Pixhawk 4,
@@ -109,16 +109,18 @@ the driver terminates immediately.

 The command to start this driver is:

- $ roboclaw start <device> <baud>
+```
+$ roboclaw start <device> <baud>
+```

-`<device>` is the name of the UART port. On the Pixhawk 4, this is `/dev/ttyS3`.
-`<baud>` is te baud rate.
+- `<device>` is the name of the UART port. On the Pixhawk 4, this is `/dev/ttyS3`.
+- `<baud>` is the baud rate.

 All available commands are:

- - `$ roboclaw start <device> <baud>`
- - `$ roboclaw status`
- - `$ roboclaw stop`
+- `$ roboclaw start <device> <baud>`
+- `$ roboclaw status`
+- `$ roboclaw stop`
 	)DESCR_STR");
 }

--- a/src/drivers/rpm/pcf8583/parameters.c
+++ b/src/drivers/rpm/pcf8583/parameters.c
@@ -60,9 +60,9 @@ PARAM_DEFINE_INT32(PCF8583_POOL, 1000000);
 /**
 * PCF8583 rotorfreq (i2c) pulse reset value
 *
- * Internal device counter is reset to 0 when overun this value,
- * counter is able to store upto 6 digits
- * reset of counter takes some time - measurement with reset has worse accurancy.
+ * Internal device counter is reset to 0 when overrun this value,
+ * counter is able to store up to 6 digits
+ * reset of counter takes some time - measurement with reset has worse accuracy.
 * 0 means reset counter after every measurement.
 *
 * @reboot_required true
--- a/src/drivers/tap_esc/TAP_ESC.cpp
+++ b/src/drivers/tap_esc/TAP_ESC.cpp
@@ -511,17 +511,22 @@ int TAP_ESC::print_usage(const char *reason)
 	PRINT_MODULE_DESCRIPTION(
 		R"DESCR_STR(
 ### Description
+
 This module controls the TAP_ESC hardware via UART. It listens on the
 actuator_controls topics, does the mixing and writes the PWM outputs.

 ### Implementation
-Currently the module is implementd as a threaded version only, meaning that it
+
+Currently the module is implemented as a threaded version only, meaning that it
 runs in its own thread instead of on the work queue.

 ### Example
-The module is typically started with:
-tap_esc start -d /dev/ttyS2 -n <1-8>

+The module is typically started with:
+
+```
+tap_esc start -d /dev/ttyS2 -n <1-8>
+```
 )DESCR_STR");

 	PRINT_MODULE_USAGE_NAME("tap_esc", "driver");
--- a/src/drivers/tap_esc/drv_tap_esc.h
+++ b/src/drivers/tap_esc/drv_tap_esc.h
@@ -107,7 +107,7 @@ typedef struct {
 	uint16_t current; // 0.0 - 200.0 A
 #endif
 #if defined(ESC_HAVE_TEMPERATURE_SENSOR)
-	uint8_t temperature; // 0 - 256 degree celsius
+	uint8_t temperature; // 0 - 256 degrees Celsius
 #endif
 } RunInfoRepsonse;
 /****** Run ***********/
@@ -232,7 +232,7 @@ typedef  struct {
 *
 * speed: -32767 - 32767 rpm
 *
- * temperature: 0 - 256 celsius degree (if available)
+ * temperature: 0 - 256 degrees Celsius (if available)
 * voltage: 0.00 - 100.00 V (if available)
 * current: 0.0 - 200.0 A (if available)
 */
--- a/src/drivers/uavcan/sensors/battery.cpp
+++ b/src/drivers/uavcan/sensors/battery.cpp
@@ -115,7 +115,7 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::

 	_battery_status[instance].remaining = msg.state_of_charge_pct / 100.0f; // between 0 and 1
 	// _battery_status[instance].scale = msg.; // Power scaling factor, >= 1, or -1 if unknown
-	_battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celcius
+	_battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celsius
 	// _battery_status[instance].cell_count = msg.;
 	_battery_status[instance].connected = true;
 	_battery_status[instance].source = msg.status_flags & uavcan::equipment::power::BatteryInfo::STATUS_FLAG_IN_USE;
@@ -238,7 +238,7 @@ UavcanBatteryBridge::filterData(const uavcan::ReceivedDataStructure<uavcan::equi

 	/* Override data that is expected to arrive from UAVCAN msg*/
 	_battery_status[instance] = _battery[instance]->getBatteryStatus();
-	_battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celcius
+	_battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celsius
 	_battery_status[instance].serial_number = msg.model_instance_id;
 	_battery_status[instance].id = msg.getSrcNodeID().get(); // overwrite zeroed index from _battery

--- a/src/drivers/uavcan/uavcan_drivers/kinetis/README.md
+++ b/src/drivers/uavcan/uavcan_drivers/kinetis/README.md
@@ -18,9 +18,9 @@ and the following commandline defines:
 |UAVCAN_KINETIS_TIMER_NUMBER | - {0..3}  Sets the Periodic Interrupt Timer (PITn) channel |

 Things that could be improved:
-1. Build time command line configuartion of Mailbox/FIFO and filters
-2. Build time command line configuartion clock source
-    - Curently the driver use `const uavcan::uint8_t CLOCKSEL  = 0;` To Select OSCERCLK
+1. Build time command line configuration of Mailbox/FIFO and filters
+2. Build time command line configuration clock source
+    - Currently the driver use `const uavcan::uint8_t CLOCKSEL  = 0;` To Select OSCERCLK
 3. Dynamic filter disable. There are no filter enable bits on the FlexCAN, just the number of Filters
   can be set. But this changes the memory map. So the configuration show below has been chosen.

--- a/Show More
+++ b/Show More