Fix magnetometer typo

msg/EstimatorEventFlags.msg

@@ -31,7 +31,7 @@ bool height_sensor_timeout              #  4 - true when the height sensor has n
 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 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 stopping_mag_use                   #  8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetometer 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
+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 magnetometer data
 bool emergency_yaw_reset_gps_yaw_stopped # 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data

msg/EstimatorStatus.msg

@@ -35,7 +35,7 @@ uint8 CS_EV_HGT = 14		# 14 - true when height data from external vision measurem
 uint8 CS_BETA = 15		# 15 - true when synthetic sideslip measurements are being fused
 uint8 CS_MAG_FIELD = 16		# 16 - true when only the magnetic field states are updated by the magnetometer
 uint8 CS_FIXED_WING = 17	# 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip
-uint8 CS_MAG_FAULT = 18		# 18 - true when the magnetomer has been declared faulty and is no longer being used
+uint8 CS_MAG_FAULT = 18		# 18 - true when the magnetometer has been declared faulty and is no longer being used
 uint8 CS_ASPD = 19		# 19 - true when airspeed measurements are being fused
 uint8 CS_GND_EFFECT = 20	# 20 - true when when protection from ground effect induced static pressure rise is active
 uint8 CS_RNG_STUCK = 21		# 21 - true when a stuck range finder sensor has been detected

src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp

@@ -548,7 +548,7 @@ void EstimatorChecks::checkEstimatorStatusFlags(const Context &context, Report &
 			_position_reliant_on_optical_flow = !gps && optical_flow && !vision_position;
 		}
 
-		// Check for a magnetomer fault and notify the user
+		// Check for a magnetometer fault and notify the user
 		if (estimator_status_flags.cs_mag_fault) {
 			/* EVENT
 			 * @description

src/modules/ekf2/EKF/common.h

@@ -623,9 +623,9 @@ union warning_event_status_u {
 		bool stopping_navigation                : 1; ///< 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       : 1; ///< 6 - true when the filter has detected bad acceerometer bias state estimates and has reset the corresponding covariance matrix elements
 		bool bad_yaw_using_gps_course           : 1; ///< 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                   : 1; ///< 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetomer data
+		bool stopping_mag_use                   : 1; ///< 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetometer data
 		bool vision_data_stopped                : 1; ///< 9 - true when the vision system data has stopped for a significant time period
-		bool emergency_yaw_reset_mag_stopped    : 1; ///< 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
+		bool emergency_yaw_reset_mag_stopped    : 1; ///< 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 magnetometer data
 		bool emergency_yaw_reset_gps_yaw_stopped: 1; ///< 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data
 	} flags;
 	uint32_t value;

src/modules/ekf2/EKF/mag_control.cpp

@@ -416,7 +416,7 @@ void Ekf::run3DMagAndDeclFusions(const Vector3f &mag)
 	if (!_mag_decl_cov_reset) {
 		// After any magnetic field covariance reset event the earth field state
 		// covariances need to be corrected to incorporate knowledge of the declination
-		// before fusing magnetomer data to prevent rapid rotation of the earth field
+		// before fusing magnetometer data to prevent rapid rotation of the earth field
 		// states for the first few observations.
 		fuseDeclination(0.02f);
 		_mag_decl_cov_reset = true;

src/modules/ekf2/EKF/mag_fusion.cpp

@@ -436,7 +436,7 @@ float Ekf::calculate_synthetic_mag_z_measurement(const Vector3f &mag_meas, const
 	// of the earth magnetic field vector at the current location
 	const float mag_z_abs = sqrtf(math::max(sq(mag_earth_predicted.length()) - sq(mag_meas(0)) - sq(mag_meas(1)), 0.0f));
 
-	// calculate sign of synthetic magnetomter Z component based on the sign of the predicted magnetomer Z component
+	// calculate sign of synthetic magnetomter Z component based on the sign of the predicted magnetometer Z component
 	const float mag_z_body_pred = mag_earth_predicted.dot(_R_to_earth.col(2));
 
 	return (mag_z_body_pred < 0) ? -mag_z_abs : mag_z_abs;

src/modules/ekf2/ekf2_params.c

@@ -477,7 +477,7 @@ PARAM_DEFINE_INT32(EKF2_DECL_TYPE, 7);
 /**
  * Type of magnetometer fusion
  *
- * Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fuson of magnetomer data as a three component vector enables vehicle body fixed hard iron errors to be learned, but requires a stable earth field.
+ * Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fuson of magnetometer data as a three component vector enables vehicle body fixed hard iron errors to be learned, but requires a stable earth field.
  * If set to 'Automatic' magnetic heading fusion is used when on-ground and 3-axis magnetic field fusion in-flight with fallback to magnetic heading fusion if there is insufficient motion to make yaw or magnetic field states observable.
  * If set to 'Magnetic heading' magnetic heading fusion is used at all times
  * If set to '3-axis' 3-axis field fusion is used at all times.
@@ -498,7 +498,7 @@ PARAM_DEFINE_INT32(EKF2_MAG_TYPE, 0);
 /**
  * Horizontal acceleration threshold used by automatic selection of magnetometer fusion method.
  *
- * This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered horizontal acceleration is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion.
+ * This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered horizontal acceleration is greater than this parameter value, then the EKF will use 3-axis magnetometer fusion.
  *
  * @group EKF2
  * @min 0.0
@@ -511,7 +511,7 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_ACCLIM, 0.5f);
 /**
  * Yaw rate threshold used by automatic selection of magnetometer fusion method.
  *
- * This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered yaw rate is greater than this parameter value, then the EKF will use 3-axis magnetomer fusion.
+ * This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered yaw rate is greater than this parameter value, then the EKF will use 3-axis magnetometer fusion.
  *
  * @group EKF2
  * @min 0.0

src/modules/logger/params.c

@@ -122,7 +122,7 @@ PARAM_DEFINE_INT32(SDLOG_MISSION, 0);
  * 3 : Topics for system identification (high rate actuator control and IMU data)
  * 4 : Full rates for analysis of fast maneuvers (RC, attitude, rates and actuators)
  * 5 : Debugging topics (debug_*.msg topics, for custom code)
- * 6 : Topics for sensor comparison (low rate raw IMU, Baro and Magnetomer data)
+ * 6 : Topics for sensor comparison (low rate raw IMU, Baro and magnetometer data)
  * 7 : Topics for computer vision and collision avoidance
  * 8 : Raw FIFO high-rate IMU (Gyro)
  * 9 : Raw FIFO high-rate IMU (Accel)