diff --git a/sw/airborne/arch/linux/udp_socket.c b/sw/airborne/arch/linux/udp_socket.c
index 014a7d6feb..3b1eae8f8f 100644
--- a/sw/airborne/arch/linux/udp_socket.c
+++ b/sw/airborne/arch/linux/udp_socket.c
@@ -19,7 +19,7 @@
  */
 
 /**
- * @file arch/linux/udp_socket.h
+ * @file arch/linux/udp_socket.c
  *
  * Easily create and use UDP sockets.
  */
diff --git a/sw/airborne/arch/linux/udp_socket.h b/sw/airborne/arch/linux/udp_socket.h
index 7fa89dbf9f..a4906d4988 100644
--- a/sw/airborne/arch/linux/udp_socket.h
+++ b/sw/airborne/arch/linux/udp_socket.h
@@ -39,7 +39,7 @@ struct UdpSocket {
 
 /**
  * Create UDP network (in/out sockets).
- * @param[out] network   pointer to already allocated UdpSocket struct
+ * @param[out] sock   pointer to already allocated UdpSocket struct
  * @param[in]  host      hostname/address
  * @param[in]  port_out  output port
  * @param[in]  port_in   input port (set to < 0 to disable)
@@ -50,7 +50,7 @@ extern int udp_socket_create(struct UdpSocket *sock, char *host, int port_out, i
 
 /**
  * Send a packet from buffer, blocking.
- * @param[in] network  pointer to UdpSocket struct
+ * @param[in] sock  pointer to UdpSocket struct
  * @param[in] buffer   buffer to send
  * @param[in] len     buffer length in bytes
  * @return number of bytes sent (-1 on error)
@@ -59,7 +59,7 @@ extern int udp_socket_send(struct UdpSocket *sock, uint8_t *buffer, uint16_t len
 
 /**
  * Receive a UDP packet, dont wait.
- * @param[in] network  pointer to UdpSocket struct
+ * @param[in] sock  pointer to UdpSocket struct
  * @param[out] buffer  buffer to write received packet to
  * @param[in] len     buffer length in bytes
  * @return number of bytes received (-1 on error)
@@ -68,7 +68,7 @@ extern int udp_socket_recv_dontwait(struct UdpSocket *sock, uint8_t *buffer, uin
 
 /**
  * Receive one UDP packet.
- * @param[in] network  pointer to UdpSocket struct
+ * @param[in] sock  pointer to UdpSocket struct
  * @param[out] buffer  buffer to write received packet to
  * @param[in] len     buffer length in bytes
  * @return number of bytes received (-1 on error)
diff --git a/sw/airborne/modules/computer_vision/lib/encoding/jpeg.c b/sw/airborne/modules/computer_vision/lib/encoding/jpeg.c
index 6ec9e3862e..54ca23ef70 100644
--- a/sw/airborne/modules/computer_vision/lib/encoding/jpeg.c
+++ b/sw/airborne/modules/computer_vision/lib/encoding/jpeg.c
@@ -16,7 +16,7 @@
 #include "jpeg.h"
 
 /**
- * @file modules/computer_vision/cv/encoding/jpeg.c
+ * @file modules/computer_vision/lib/encoding/jpeg.c
  * Encode images with the use of the JPEG encoding
  */
 
diff --git a/sw/airborne/modules/computer_vision/lib/encoding/jpeg.h b/sw/airborne/modules/computer_vision/lib/encoding/jpeg.h
index fafe6dbc9f..1895cb3eb1 100644
--- a/sw/airborne/modules/computer_vision/lib/encoding/jpeg.h
+++ b/sw/airborne/modules/computer_vision/lib/encoding/jpeg.h
@@ -14,7 +14,7 @@
  * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 
 /**
- * @file modules/computer_vision/cv/encoding/jpeg.h
+ * @file modules/computer_vision/lib/encoding/jpeg.h
  * Encode images with the use of the JPEG encoding
  */
 
diff --git a/sw/airborne/modules/computer_vision/lib/encoding/rtp.c b/sw/airborne/modules/computer_vision/lib/encoding/rtp.c
index 9b8529afe2..19426763a4 100644
--- a/sw/airborne/modules/computer_vision/lib/encoding/rtp.c
+++ b/sw/airborne/modules/computer_vision/lib/encoding/rtp.c
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file modules/computer_vision/cv/encoding/rtp.c
+ * @file modules/computer_vision/lib/encoding/rtp.c
  *
  * Encodes a vide stream with RTP (JPEG)
  */
diff --git a/sw/airborne/modules/computer_vision/lib/encoding/rtp.h b/sw/airborne/modules/computer_vision/lib/encoding/rtp.h
index f34fbc1526..333b566707 100644
--- a/sw/airborne/modules/computer_vision/lib/encoding/rtp.h
+++ b/sw/airborne/modules/computer_vision/lib/encoding/rtp.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file modules/computer_vision/cv/encoding/rtp.h
+ * @file modules/computer_vision/lib/encoding/rtp.h
  *
  * Encodes a vide stream with RTP (JPEG)
  */
diff --git a/sw/airborne/modules/ins/ahrs_chimu_spi.c b/sw/airborne/modules/ins/ahrs_chimu_spi.c
index 7c735849a9..8ee1300dcf 100644
--- a/sw/airborne/modules/ins/ahrs_chimu_spi.c
+++ b/sw/airborne/modules/ins/ahrs_chimu_spi.c
@@ -50,7 +50,7 @@ static void gps_cb(uint8_t sender_id __attribute__((unused)),
 void ahrs_chimu_register(void)
 {
   ahrs_chimu_init();
-  /// @TODO: provide enable function
+  /// @todo: provide enable function
   ahrs_register_impl(NULL);
   AbiBindMsgGPS(ABI_BROADCAST, &gps_ev, gps_cb);
 }
diff --git a/sw/airborne/modules/ins/ahrs_chimu_uart.c b/sw/airborne/modules/ins/ahrs_chimu_uart.c
index 30674a839b..bb488b5423 100644
--- a/sw/airborne/modules/ins/ahrs_chimu_uart.c
+++ b/sw/airborne/modules/ins/ahrs_chimu_uart.c
@@ -35,7 +35,7 @@ struct AhrsChimu ahrs_chimu;
 void ahrs_chimu_register(void)
 {
   ahrs_chimu_init();
-  /// @TODO: provide enable function
+  /// @todo: provide enable function
   ahrs_register_impl(NULL);
 }
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_ardrone2.c b/sw/airborne/subsystems/ahrs/ahrs_ardrone2.c
index 4f3a9e21ed..520f465394 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_ardrone2.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_ardrone2.c
@@ -71,7 +71,7 @@ static void send_ahrs_ad2(struct transport_tx *trans, struct link_device *dev)
 void ahrs_ardrone2_register(void)
 {
   ahrs_ardrone2_init();
-  /// @TODO: provide enable function
+  /// @todo: provide enable function
   ahrs_register_impl(NULL);
 }
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_gx3.c b/sw/airborne/subsystems/ahrs/ahrs_gx3.c
index 251233e20d..c277929ea3 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_gx3.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_gx3.c
@@ -340,7 +340,7 @@ void ahrs_gx3_init(void)
 void ahrs_gx3_register(void)
 {
   ahrs_gx3_init();
-  /// @TODO: provide enable function
+  /// @todo: provide enable function
   ahrs_register_impl(NULL);
 }
 
diff --git a/sw/airborne/subsystems/navigation/waypoints.c b/sw/airborne/subsystems/navigation/waypoints.c
index e2765bc91b..72d34c6d01 100644
--- a/sw/airborne/subsystems/navigation/waypoints.c
+++ b/sw/airborne/subsystems/navigation/waypoints.c
@@ -87,7 +87,7 @@ void nav_move_waypoint_enu_i(uint8_t wp_id, struct EnuCoor_i *new_pos)
 
 /**
  * Set only local XY coordinates of waypoint without update altitude.
- * @TODO: how to handle global waypoints?
+ * @todo: how to handle global waypoints?
  */
 void nav_set_waypoint_xy_i(uint8_t wp_id, int32_t x, int32_t y)
 {