diff --git a/include/nuttx/uorb.h b/include/nuttx/uorb.h
index 0435e65705f..2cb324eaf3e 100644
--- a/include/nuttx/uorb.h
+++ b/include/nuttx/uorb.h
@@ -304,7 +304,7 @@
  * Motion detection sensor is used to detect the motion status of the device.
  * motion detect event is produced if the device has been in motion
  * for at least 5 seconds with a maximal latency of 5 additional seconds.
- * ie: it may take up anywhere from 5 to 10 seconds afte the device has been
+ * ie: it may take up anywhere from 5 to 10 seconds after the device has been
  * at rest to trigger this event. The only allowed value is 1.0.
  */
 
@@ -402,7 +402,7 @@
  * measurements come from photodiodes and following current amplifiers and
  * ADCs, where a photodiode switches reflected light intensity to current.
  * The LED current decides the lightness of LED, which is the input of PPG
- * measurements. The ADC gains are multipled on the output and affect SNR.
+ * measurements. The ADC gains are multiplied on the output and affect SNR.
  */
 
 #define SENSOR_TYPE_PPGD                            42
@@ -413,7 +413,7 @@
  * measurements come from photodiodes and following current amplifiers and
  * ADCs, where a photodiode switches reflected light intensity to current.
  * The LED current decides the lightness of LED, which is the input of PPG
- * measurements. The ADC gains are multipled on the output and affect SNR.
+ * measurements. The ADC gains are multiplied on the output and affect SNR.
  */
 
 #define SENSOR_TYPE_PPGQ                            43
@@ -429,7 +429,7 @@
 /* OTS (Optical tracking sensor)
  * A sensor of this type returns the OTS measurements in counts. It
  * integrates an optical chip and a LASER light source in a single miniature
- * package. It provies wide depth of field range on glossy surface, and
+ * package. It provides wide depth of field range on glossy surface, and
  * design flexibility into a compact device.
  */
 
@@ -1170,7 +1170,7 @@ struct sensor_state_s
   uint32_t nbuffer;            /* The number of events that the circular buffer can hold */
   uint32_t min_latency;        /* The minimum batch latency for sensor, in us */
   uint32_t min_interval;       /* The minimum subscription interval for sensor, in us */
-  uint32_t nsubscribers;       /* The number of subcribers */
+  uint32_t nsubscribers;       /* The number of subscribers */
   uint32_t nadvertisers;       /* The number of advertisers */
   uint32_t generation;         /* The recent generation of circular buffer */
   uint64_t priv;               /* The pointer to private data of userspace user */