Fix documentaion and some code typos

README.md

@@ -53,7 +53,7 @@ For information and installation of the
 * Check to see if you pass style guidelines: `tb verify`
 
 Note: Docker and the toolbelt is an optional way of running tests and reduces the 
-work needed to maintain your python environmet. 
+work needed to maintain your python environment.
 
 ### Native python on Linux, OSX, Windows
  [Tox](http://tox.readthedocs.org/en/latest/) is used for native testing: `pip install tox`

cflib/crazyflie/high_level_commander.py

@@ -75,7 +75,7 @@ def takeoff(self, absolute_height_m, duration_s, group_mask=ALL_GROUPS,
         """
         vertical takeoff from current x-y position to given height
 
-        :param absolute_height_m: absolut (m)
+        :param absolute_height_m: absolute (m)
         :param duration_s: time it should take until target height is
                            reached (s)
         :param group_mask: mask for which CFs this should apply to
@@ -100,7 +100,7 @@ def land(self, absolute_height_m, duration_s, group_mask=ALL_GROUPS,
         """
         vertical land from current x-y position to given height
 
-        :param absolute_height_m: absolut (m)
+        :param absolute_height_m: absolute (m)
         :param duration_s: time it should take until target height is
                            reached (s)
         :param group_mask: mask for which CFs this should apply to

cflib/crazyflie/platformservice.py

@@ -117,14 +117,14 @@ def _crt_service_callback(self, pk):
                 self._cf.send_packet(pk)
             else:
                 self._protocolVersion = -1
-                logger.info('Procotol version: {}'.format(
+                logger.info('Protocol version: {}'.format(
                     self.get_protocol_version()))
                 self._callback()
 
     def _platform_callback(self, pk):
         if pk.channel == VERSION_COMMAND and \
                 pk.data[0] == VERSION_GET_PROTOCOL:
             self._protocolVersion = pk.data[1]
-            logger.info('Procotol version: {}'.format(
+            logger.info('Protocol  version: {}'.format(
                 self.get_protocol_version()))
             self._callback()

cflib/crazyflie/syncCrazyflie.py

@@ -24,7 +24,7 @@
 #  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
 #  MA  02110-1301, USA.
 """
-The syncronous Crazyflie class is a wrapper around the "normal" Crazyflie
+The synchronous Crazyflie class is a wrapper around the "normal" Crazyflie
 class. It handles the asynchronous nature of the Crazyflie API and turns it
 into blocking function. It is useful for simple scripts that performs tasks
 as a sequence of events.

cflib/crazyflie/toc.py

@@ -25,7 +25,7 @@
 #  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
 #  MA  02110-1301, USA.
 """
-A generic TableOfContents module that is used to fetch, store and minipulate
+A generic TableOfContents module that is used to fetch, store and manipulate
 a TOC for logging or parameters.
 """
 import logging

cflib/crtp/serialdriver.py

@@ -217,7 +217,7 @@ def run(self):
                 if r != expected:
                     continue
 
-                # NOTE: end is (expected - 2) as the lenght of the data +2 for
+                # NOTE: end is (expected - 2) as the length of the data +2 for
                 # the header bytes
                 cksum = compute_cksum(memoryview(received)[:expected])
                 if cksum[0] != received_data_chk[-2] or \

cflib/crtp/usbdriver.py

@@ -71,7 +71,7 @@ def connect(self, uri, link_quality_callback, link_error_callback):
 
         The callback for linkQuality can be called at any moment from the
         driver to report back the link quality in percentage. The
-        callback from linkError will be called when a error occues with
+        callback from linkError will be called when a error occurs with
         an error message.
         """
 
@@ -215,7 +215,7 @@ class _UsbReceiveThread(threading.Thread):
     Radio link receiver thread used to read data from the
     Crazyradio USB driver. """
 
-    # RETRYCOUNT_BEFORE_DISCONNECT = 10
+    # RETRY_COUNT_BEFORE_DISCONNECT = 10
 
     def __init__(self, cfusb, inQueue, link_quality_callback,
                  link_error_callback):

cflib/drivers/cfusb.py

@@ -143,7 +143,7 @@ def set_crtp_to_usb(self, crtp_to_usb):
     # Data transfers
     def send_packet(self, dataOut):
         """ Send a packet and receive the ack from the radio dongle
-            The ack contains information about the packet transmition
+            The ack contains information about the packet transmission
             and a data payload if the ack packet contained any """
         try:
             if (pyusb1 is False):

cflib/drivers/crazyradio.py

@@ -278,10 +278,10 @@ def scan_channels(self, start, stop, packet):
                     result = result + (i,)
             return result
 
-    # Data transferts
+    # Data transfers
     def send_packet(self, dataOut):
         """ Send a packet and receive the ack from the radio dongle
-            The ack contains information about the packet transmition
+            The ack contains information about the packet transmission
             and a data payload if the ack packet contained any """
         ackIn = None
         data = None

cflib/positioning/motion_commander.py

@@ -80,7 +80,7 @@ def __init__(self, crazyflie, default_height=0.3):
 
     def take_off(self, height=None, velocity=VELOCITY):
         """
-        Takes off, that is starts the motors, goes straigt up and hovers.
+        Takes off, that is starts the motors, goes straight up and hovers.
         Do not call this function if you use the with keyword. Take off is
         done automatically when the context is created.
 
@@ -197,7 +197,7 @@ def turn_left(self, angle_degrees, rate=RATE):
         Turn to the left, staying on the spot
 
         :param angle_degrees: How far to turn (degrees)
-        :param rate: The trurning speed (degrees/second)
+        :param rate: The turning speed (degrees/second)
         :return:
         """
         flight_time = angle_degrees / rate
@@ -211,7 +211,7 @@ def turn_right(self, angle_degrees, rate=RATE):
         Turn to the right, staying on the spot
 
         :param angle_degrees: How far to turn (degrees)
-        :param rate: The trurning speed (degrees/second)
+        :param rate: The turning speed (degrees/second)
         :return:
         """
         flight_time = angle_degrees / rate

docs/development/matlab.md

@@ -39,7 +39,7 @@ double dashes (no space) before 'build-base' and 'user'.
 
 ### More information (from Mathworks MATLAB documentation)
 
-System reqirements:
+System requirements:
 <http://www.mathworks.com/help/matlab/matlab_external/system-requirements-for-matlab-engine-for-python.html>
 
 Installation:

docs/development/testing.md

@@ -13,7 +13,7 @@ For information and installation of the
 * Check to see if you pass style guidelines: `tb verify`
 
 Note: Docker and the toolbelt is an optional way of running tests and reduces the 
-work needed to maintain your python environmet. 
+work needed to maintain your python environment.
 
 ### Native python on Linux, OSX, Windows
  [Tox](http://tox.readthedocs.org/en/latest/) is used for native testing: `pip install tox`

docs/functonal-areas/crazyradio_lib.md

@@ -12,7 +12,7 @@ Theory of operation
 -------------------
 
 The Crazyradio is configured in PTX mode which means that it will start
-all comunication. If a device in PRX mode is on the same address,
+all communication. If a device in PRX mode is on the same address,
 channel and datarate, the device will send back an ack packet that may
 contains data.
 

examples/basiclog.py

@@ -101,12 +101,12 @@ def _stab_log_error(self, logconf, msg):
         print('Error when logging %s: %s' % (logconf.name, msg))
 
     def _stab_log_data(self, timestamp, data, logconf):
-        """Callback froma the log API when data arrives"""
+        """Callback from a the log API when data arrives"""
         print('[%d][%s]: %s' % (timestamp, logconf.name, data))
 
     def _connection_failed(self, link_uri, msg):
         """Callback when connection initial connection fails (i.e no Crazyflie
-        at the speficied address)"""
+        at the specified address)"""
         print('Connection to %s failed: %s' % (link_uri, msg))
         self.is_connected = False
 

examples/cfbridge.py

@@ -3,8 +3,8 @@
 Bridge a Crazyflie connected to a Crazyradio to a local MAVLink port
 Requires 'pip install cflib'
 
-As the ESB protocol works using PTX and PRX (Primary Transmitter/Reciever)
-modes. Thus, data is only recieved as a response to a sent packet.
+As the ESB protocol works using PTX and PRX (Primary Transmitter/Receiver)
+modes. Thus, data is only received as a response to a sent packet.
 So, we need to constantly poll the receivers for bidirectional communication.
 
 @author: Dennis Shtatnov ([email protected])
@@ -91,12 +91,12 @@ def _stab_log_error(self, logconf, msg):
         print('Error when logging %s: %s' % (logconf.name, msg))
 
     def _stab_log_data(self, timestamp, data, logconf):
-        """Callback froma the log API when data arrives"""
+        """Callback from a the log API when data arrives"""
         print('[%d][%s]: %s' % (timestamp, logconf.name, data))
 
     def _connection_failed(self, link_uri, msg):
         """Callback when connection initial connection fails (i.e no Crazyflie
-        at the speficied address)"""
+        at the specified address)"""
         print('Connection to %s failed: %s' % (link_uri, msg))
         self.is_connected = False
 

examples/erase-ow.py

@@ -100,12 +100,12 @@ def _stab_log_error(self, logconf, msg):
         print('Error when logging %s: %s' % (logconf.name, msg))
 
     def _stab_log_data(self, timestamp, data, logconf):
-        """Callback froma the log API when data arrives"""
+        """Callback from a the log API when data arrives"""
         print('[%d][%s]: %s' % (timestamp, logconf.name, data))
 
     def _connection_failed(self, link_uri, msg):
         """Callback when connection initial connection fails (i.e no Crazyflie
-        at the speficied address)"""
+        at the specified address)"""
         print('Connection to %s failed: %s' % (link_uri, msg))
         self.is_connected = False
 

examples/lighthouse/lighthouse_openvr_multigrab.py

@@ -107,7 +107,7 @@ def start_position_printing(scf):
     log_conf.start()
 
 
-def vector_substract(v0, v1):
+def vector_subtract(v0, v1):
     return [v0[0] - v1[0], v0[1] - v1[1], v0[2] - v1[2]]
 
 
@@ -151,10 +151,10 @@ def run_sequence(scf0, scf1):
             print('Grab started')
             grab_controller_start = [-1*pose[2][3], -1*pose[0][3], pose[1][3]]
 
-            dist0 = vector_norm(vector_substract(grab_controller_start,
-                                                 setpoints[0]))
-            dist1 = vector_norm(vector_substract(grab_controller_start,
-                                                 setpoints[1]))
+            dist0 = vector_norm(vector_subtract(grab_controller_start,
+                                                setpoints[0]))
+            dist1 = vector_norm(vector_subtract(grab_controller_start,
+                                                setpoints[1]))
 
             if dist0 < dist1:
                 closest = 0
@@ -171,8 +171,8 @@ def run_sequence(scf0, scf1):
         if trigger:
             curr = [-1*pose[2][3], -1*pose[0][3], pose[1][3]]
             setpoints[closest] = vector_add(
-                grab_setpoint_start, vector_substract(curr,
-                                                      grab_controller_start))
+                grab_setpoint_start, vector_subtract(curr,
+                                                     grab_controller_start))
 
         cf0.commander.send_position_setpoint(setpoints[0][0],
                                              setpoints[0][1],

examples/lighthouse/read-geometry-mem.py

@@ -48,7 +48,7 @@ def __init__(self, uri):
             if count != 1:
                 raise Exception('Unexpected nr of memories found:', count)
 
-            print('Rquesting data')
+            print('Requesting data')
             mems[0].update(self._data_updated)
 
             while not self.got_data:

examples/multiranger_pointcloud.py

@@ -37,7 +37,7 @@
 
 There's additional setting for (see constants below):
  * Plotting the downwards sensor
- * Plotting the estimated Crazyflie postition
+ * Plotting the estimated Crazyflie position
  * Max threshold for sensors
  * Speed factor that set's how fast the Crazyflie moves
 
@@ -82,7 +82,7 @@
 PLOT_CF = False
 # Enable plotting of down sensor
 PLOT_SENSOR_DOWN = False
-# Set the sensor threashold (in mm)
+# Set the sensor threshold (in mm)
 SENSOR_TH = 2000
 # Set the speed factor for moving and rotating
 SPEED_FACTOR = 0.3

examples/multiranger_push.py

@@ -25,7 +25,7 @@
 #  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
 #  MA  02110-1301, USA.
 """
-Example scipts that allows a user to "push" the Crazyflie 2.0 around
+Example scripts that allows a user to "push" the Crazyflie 2.0 around
 using your hands while it's hovering.
 
 This examples uses the Flow and Multi-ranger decks to measure distances

examples/positioning/matrix_light_printer.py

@@ -26,7 +26,7 @@
 camera with open shutter in a dark room.
 
 It requires a Crazyflie capable of controlling its position and with
-a Led ring attached to it. A piece of sicky paper can be attached on
+a Led ring attached to it. A piece of sticky paper can be attached on
 the led ring to orient the ring light toward the front.
 
 To control it position, Crazyflie requires an absolute positioning

examples/read-eeprom.py

@@ -94,12 +94,12 @@ def _stab_log_error(self, logconf, msg):
         print('Error when logging %s: %s' % (logconf.name, msg))
 
     def _stab_log_data(self, timestamp, data, logconf):
-        """Callback froma the log API when data arrives"""
+        """Callback from a the log API when data arrives"""
         print('[%d][%s]: %s' % (timestamp, logconf.name, data))
 
     def _connection_failed(self, link_uri, msg):
         """Callback when connection initial connection fails (i.e no Crazyflie
-        at the speficied address)"""
+        at the specified address)"""
         print('Connection to %s failed: %s' % (link_uri, msg))
         self.is_connected = False
 

examples/read-ow.py

@@ -101,12 +101,12 @@ def _stab_log_error(self, logconf, msg):
         print('Error when logging %s: %s' % (logconf.name, msg))
 
     def _stab_log_data(self, timestamp, data, logconf):
-        """Callback froma the log API when data arrives"""
+        """Callback from a the log API when data arrives"""
         print('[%d][%s]: %s' % (timestamp, logconf.name, data))
 
     def _connection_failed(self, link_uri, msg):
         """Callback when connection initial connection fails (i.e no Crazyflie
-        at the speficied address)"""
+        at the specified address)"""
         print('Connection to %s failed: %s' % (link_uri, msg))
         self.is_connected = False
 

examples/swarm/hl-commander-swarm.py

@@ -25,7 +25,7 @@
 Simple example of a swarm using the High level commander.
 
 The swarm takes off and flies a synchronous square shape before landing.
-The trajectories are relative to the starting positions and the Crazyfles can
+The trajectories are relative to the starting positions and the Crazyflies can
 be at any position on the floor when the script is started.
 
 This example is intended to work with any absolute positioning system.

examples/swarm/swarmSequenceCircle.py

@@ -25,7 +25,7 @@
 #  MA  02110-1301, USA.
 """
 A script to fly 5 Crazyflies in formation. One stays in the center and the
-other four fly aound it in a circle. Mainly intended to be used with the
+other four fly around it in a circle. Mainly intended to be used with the
 Flow deck.
 The starting positions are vital and should be oriented like this
 
@@ -53,7 +53,7 @@
 URI4 = 'radio://0/110/2M/E7E7E7E703'
 
 # d: diameter of circle
-# z: altituce
+# z: altitude
 params0 = {'d': 1.0, 'z': 0.3}
 params1 = {'d': 1.0, 'z': 0.3}
 params2 = {'d': 0.0, 'z': 0.5}

examples/write-eeprom.py

@@ -106,12 +106,12 @@ def _stab_log_error(self, logconf, msg):
         print('Error when logging %s: %s' % (logconf.name, msg))
 
     def _stab_log_data(self, timestamp, data, logconf):
-        """Callback froma the log API when data arrives"""
+        """Callback from the log API when data arrives"""
         print('[%d][%s]: %s' % (timestamp, logconf.name, data))
 
     def _connection_failed(self, link_uri, msg):
         """Callback when connection initial connection fails (i.e no Crazyflie
-        at the speficied address)"""
+        at the specified address)"""
         print('Connection to %s failed: %s' % (link_uri, msg))
         self.is_connected = False
 

examples/write-ow.py

@@ -112,12 +112,12 @@ def _stab_log_error(self, logconf, msg):
         print('Error when logging %s: %s' % (logconf.name, msg))
 
     def _stab_log_data(self, timestamp, data, logconf):
-        """Callback froma the log API when data arrives"""
+        """Callback from the log API when data arrives"""
         print('[%d][%s]: %s' % (timestamp, logconf.name, data))
 
     def _connection_failed(self, link_uri, msg):
         """Callback when connection initial connection fails (i.e no Crazyflie
-        at the speficied address)"""
+        at the specified address)"""
         print('Connection to %s failed: %s' % (link_uri, msg))
         self.is_connected = False
 

test/crazyflie/test_syncCrazyflie.py

@@ -145,7 +145,7 @@ def test_closed_if_connection_is_lost(self):
         self.assertFalse(self.sut.is_link_open())
         self._assertAllCallbacksAreRemoved()
 
-    def test_open_close_with_context_mangement(self):
+    def test_open_close_with_context_management(self):
         # Fixture
 
         # Test