diff --git a/system/uorb/test/unit_test.c b/system/uorb/test/unit_test.c
index fc28daee5..70cd059df 100644
--- a/system/uorb/test/unit_test.c
+++ b/system/uorb/test/unit_test.c
@@ -235,12 +235,6 @@ static int latency_test(bool print)
       usleep(1000); /* simulate >800 Hz system operation */
     }
 
-  if (pubsub_task < 0)
-    {
-      test_fail("failed launching task");
-      goto out;
-    }
-
   ret = OK;
 
 out:
diff --git a/system/uorb/uORB/uORB.c b/system/uorb/uORB/uORB.c
index 63adb4b64..333fc09e0 100644
--- a/system/uorb/uORB/uORB.c
+++ b/system/uorb/uORB/uORB.c
@@ -43,7 +43,7 @@
  * Name: orb_advsub_open
  *
  * Description:
- *   Open device node as advertiser / subscriber, regist node and save meta
+ *   Open device node as advertiser / subscriber, register node and save meta
  *   in driver for first user, set buffer number for advertisers.
  *
  * Input Parameters:
@@ -68,7 +68,7 @@ static int orb_advsub_open(FAR const struct orb_metadata *meta, int flags,
   snprintf(path, ORB_PATH_MAX, ORB_SENSOR_PATH"%s%d", meta->o_name,
            instance);
 
-  /* Check existance before open */
+  /* Check existence before open */
 
   flags |= O_CLOEXEC;
   fd = open(path, flags);
diff --git a/system/uorb/uORB/uORB.h b/system/uorb/uORB/uORB.h
index f1b9c27b0..205edffb1 100644
--- a/system/uorb/uORB/uORB.h
+++ b/system/uorb/uORB/uORB.h
@@ -108,10 +108,10 @@ struct orb_handle_s
   int                events;      /* Events of interest. */
   int                fd;          /* Topic fd. */
   FAR void          *arg;         /* Callback parameter. */
-  orb_datain_cb_t    datain_cb;   /* User EPOLLIN callback funtion. */
-  orb_dataout_cb_t   dataout_cb;  /* User EPOLLOUT callback funtion. */
-  orb_eventpri_cb_t  eventpri_cb; /* User EPOLLPRI callback funtion. */
-  orb_eventerr_cb_t  eventerr_cb; /* User EPOLLERR callback funtion. */
+  orb_datain_cb_t    datain_cb;   /* User EPOLLIN callback function. */
+  orb_dataout_cb_t   dataout_cb;  /* User EPOLLOUT callback function. */
+  orb_eventpri_cb_t  eventpri_cb; /* User EPOLLPRI callback function. */
+  orb_eventerr_cb_t  eventerr_cb; /* User EPOLLERR callback function. */
 };
 
 struct orb_loop_ops_s;
@@ -806,7 +806,7 @@ orb_abstime orb_absolute_time(void);
  *   then   Past system time.
  *
  * Returned Value:
- *   Bewteen time.
+ *   Between time.
  ****************************************************************************/
 
 static inline orb_abstime orb_elapsed_time(FAR const orb_abstime *then)