From 575e89f1a120deddf5f1fbe48d0d693e677fe7e6 Mon Sep 17 00:00:00 2001
From: Philippe Renon <op.filnet@yahoo.fr>
Date: Sat, 30 Aug 2014 18:09:23 +0200
Subject: [PATCH] OP-1319 fixed minor spelling mistake in firmware code

---
 flight/modules/Stabilization/inc/stabilization.h | 2 +-
 flight/modules/Stabilization/outerloop.c         | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/flight/modules/Stabilization/inc/stabilization.h b/flight/modules/Stabilization/inc/stabilization.h
index 8314ae97e..44ab8917c 100644
--- a/flight/modules/Stabilization/inc/stabilization.h
+++ b/flight/modules/Stabilization/inc/stabilization.h
@@ -76,7 +76,7 @@ extern StabilizationData stabSettings;
 // must be same as eventdispatcher to avoid needing additional mutexes
 #define CBTASK_PRIORITY     CALLBACK_TASK_FLIGHTCONTROL
 
-// outer loop only executes every 4th uavobject update to safe CPU
+// outer loop only executes every 4th uavobject update to save CPU
 #define OUTERLOOP_SKIPCOUNT 4
 
 #endif // STABILIZATION_H
diff --git a/flight/modules/Stabilization/outerloop.c b/flight/modules/Stabilization/outerloop.c
index 7d865b556..7fc5aa4f5 100644
--- a/flight/modules/Stabilization/outerloop.c
+++ b/flight/modules/Stabilization/outerloop.c
@@ -286,10 +286,10 @@ static void stabilizationOuterloopTask()
 
 static void AttitudeStateUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
 {
-    // to reduce CPU utilisation, outer loop is not executed every state update
-    static uint8_t cpusafer = 0;
+    // to reduce CPU utilization, outer loop is not executed on every state update
+    static uint8_t cpusaver = 0;
 
-    if ((cpusafer++ % OUTERLOOP_SKIPCOUNT) == 0) {
+    if ((cpusaver++ % OUTERLOOP_SKIPCOUNT) == 0) {
         // this does not need mutex protection as both eventdispatcher and stabi run in same callback task!
         AttitudeStateGet(&attitude);
         PIOS_CALLBACKSCHEDULER_Dispatch(callbackHandle);