diff --git a/msg/EstimatorEventFlags.msg b/msg/EstimatorEventFlags.msg index 3baea13361..1a47e676a5 100644 --- a/msg/EstimatorEventFlags.msg +++ b/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 diff --git a/msg/EstimatorStatus.msg b/msg/EstimatorStatus.msg index 55c996621e..f3b76f18ed 100644 --- a/msg/EstimatorStatus.msg +++ b/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 diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp index 53a155feb5..9828dcb920 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp +++ b/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 diff --git a/src/modules/ekf2/EKF/common.h b/src/modules/ekf2/EKF/common.h index 948fd55f9e..949f4ef042 100644 --- a/src/modules/ekf2/EKF/common.h +++ b/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; diff --git a/src/modules/ekf2/EKF/mag_control.cpp b/src/modules/ekf2/EKF/mag_control.cpp index 8af9127764..f17f1ef133 100644 --- a/src/modules/ekf2/EKF/mag_control.cpp +++ b/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; diff --git a/src/modules/ekf2/EKF/mag_fusion.cpp b/src/modules/ekf2/EKF/mag_fusion.cpp index a6f2138b31..6876c58b0f 100644 --- a/src/modules/ekf2/EKF/mag_fusion.cpp +++ b/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; diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c index 9783b9c755..705871ce98 100644 --- a/src/modules/ekf2/ekf2_params.c +++ b/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 diff --git a/src/modules/logger/params.c b/src/modules/logger/params.c index 218ebf896c..93bf9ae5e5 100644 --- a/src/modules/logger/params.c +++ b/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)