diff --git a/sw/airborne/firmwares/fixedwing/ap_downlink.h b/sw/airborne/firmwares/fixedwing/ap_downlink.h
index 5f3c1482dd..7034487bc5 100644
--- a/sw/airborne/firmwares/fixedwing/ap_downlink.h
+++ b/sw/airborne/firmwares/fixedwing/ap_downlink.h
@@ -17,11 +17,12 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
-/** \file ap_downlink.h
- *  \brief Set of macros defining the periodic telemetry messages of AP process
+/**
+ * @file firmwares/fixedwing/ap_downlink.h
+ *
+ * Set of macros defining the periodic telemetry messages of AP process.
  *
  * The PeriodicSendAp() macro is generated from the telemetry description
  * (named in conf.xml, usually in conf/telemetry directory). This macro
diff --git a/sw/airborne/firmwares/fixedwing/autopilot.c b/sw/airborne/firmwares/fixedwing/autopilot.c
index d99ea82668..eabae9d709 100644
--- a/sw/airborne/firmwares/fixedwing/autopilot.c
+++ b/sw/airborne/firmwares/fixedwing/autopilot.c
@@ -17,13 +17,12 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
 /**
  * @file firmwares/fixedwing/autopilot.c
  *
- * Autopilot inititalization.
+ * Fixedwing autopilot inititalization.
  *
  */
 
diff --git a/sw/airborne/firmwares/fixedwing/autopilot.h b/sw/airborne/firmwares/fixedwing/autopilot.h
index a1c7bcaf46..4305eb7f16 100644
--- a/sw/airborne/firmwares/fixedwing/autopilot.h
+++ b/sw/airborne/firmwares/fixedwing/autopilot.h
@@ -17,13 +17,12 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
 /**
  * @file firmwares/fixedwing/autopilot.h
  *
- * Autopilot modes.
+ * Fixedwing autopilot modes.
  *
  */
 
diff --git a/sw/airborne/firmwares/fixedwing/datalink.c b/sw/airborne/firmwares/fixedwing/datalink.c
index 4add833c84..6a966b958b 100644
--- a/sw/airborne/firmwares/fixedwing/datalink.c
+++ b/sw/airborne/firmwares/fixedwing/datalink.c
@@ -17,7 +17,6 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
 /**
diff --git a/sw/airborne/firmwares/fixedwing/fbw_downlink.h b/sw/airborne/firmwares/fixedwing/fbw_downlink.h
index c31bbbe918..061a7334ed 100644
--- a/sw/airborne/firmwares/fixedwing/fbw_downlink.h
+++ b/sw/airborne/firmwares/fixedwing/fbw_downlink.h
@@ -17,11 +17,12 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
-/** \file fbw_downlink.h
- *  \brief Set of macros defining the periodic telemetry messages of FBW process
+/**
+ * @file firmwares/fixedwing/fbw_downlink.h
+ *
+ * Set of macros defining the periodic telemetry messages of FBW process.
  *
  * The PeriodicSendAp() macro is generated from the telemetry description
  * (named in conf.xml, usually in conf/telemetry directory). This macro
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_common.h b/sw/airborne/firmwares/fixedwing/guidance/guidance_common.h
index c2b2286cfa..44b8069048 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/guidance_common.h
+++ b/sw/airborne/firmwares/fixedwing/guidance/guidance_common.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file firmwares/fixedwing/guidance/guidance_v.h
+ * @file firmwares/fixedwing/guidance/guidance_common.h
  * Vertical control for fixed wing vehicles.
  *
  */
diff --git a/sw/airborne/firmwares/fixedwing/main.c b/sw/airborne/firmwares/fixedwing/main.c
index 9e913382d5..9bec94264f 100644
--- a/sw/airborne/firmwares/fixedwing/main.c
+++ b/sw/airborne/firmwares/fixedwing/main.c
@@ -17,7 +17,6 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
 /**
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index db082ea3d6..91de402fa5 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -17,15 +17,15 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
 /**
- * @file main_ap.c
+ * @file firmwares/fixedwing/main_ap.c
+ *
  * AP ( AutoPilot ) tasks
  *
- * This process is reponsible for the collecting the different sensors data, fusing them to obtain
- * aircraft attitude and running the different control loops
+ * This process is reponsible for the collecting the different sensors data,
+ * calling the appropriate estimation algorithms and running the different control loops.
  */
 
 #define MODULES_C
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.h b/sw/airborne/firmwares/fixedwing/main_ap.h
index aed8b8acb6..358d44df37 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.h
+++ b/sw/airborne/firmwares/fixedwing/main_ap.h
@@ -17,11 +17,12 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
-/** \file main_ap.h
- *  \brief AP ( AutoPilot ) process API
+/**
+ * @file firmwares/fixedwing/main_ap.h
+ *
+ * AP ( AutoPilot ) process API
  *
  */
 
diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c
index 891ed2fc02..e40dae62e3 100644
--- a/sw/airborne/firmwares/fixedwing/main_fbw.c
+++ b/sw/airborne/firmwares/fixedwing/main_fbw.c
@@ -20,10 +20,12 @@
  *
  */
 
-/** \file main_fbw.c
- *  \brief FBW ( FlyByWire ) process
+/**
+ * @file firmwares/fixedwing/main_fbw.c
  *
- *   This process is responsible for decoding radio control, generating actuators
+ * FBW ( FlyByWire ) process
+ *
+ * This process is responsible for decoding radio control, generating actuators
  * signals either from the radio control or from the commands provided by the
  * AP (autopilot) process. It also performs a telemetry task and a low level monitoring
  * ( for parameters like the supply )
diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.h b/sw/airborne/firmwares/fixedwing/main_fbw.h
index 333641ac73..b71bf5d57e 100644
--- a/sw/airborne/firmwares/fixedwing/main_fbw.h
+++ b/sw/airborne/firmwares/fixedwing/main_fbw.h
@@ -17,11 +17,12 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
-/** @file main_fbw.h
- *  @brief FBW ( FlyByWire ) process API
+/**
+ * @file firmwares/fixedwing/main_fbw.h
+ *
+ * FBW ( FlyByWire ) process API
  *
  */
 
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
index 8c41aa28e6..65ac4683cd 100644
--- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
+++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
@@ -17,12 +17,12 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
 /**
+ * @file firmwares/fixedwing/stabilization/stabilization_adaptive.c
  *
- * fixed wing horizontal adaptive control
+ * Fixed wing horizontal adaptive control.
  *
  */
 
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.h b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.h
index 80d8fec764..de505dc46b 100644
--- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.h
+++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.h
@@ -17,12 +17,12 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
 /**
+ * @file firmwares/fixedwing/stabilization/stabilization_adaptive.h
  *
- * fixed wing horizontal adaptive control
+ * Fixed wing horizontal adaptive control.
  *
  */
 
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
index 645719a961..7d5a70f6ce 100644
--- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
+++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
@@ -17,12 +17,12 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
 /**
+ * @file firmwares/fixedwing/stabilization/stabilization_attitude.c
  *
- * fixed wing horizontal control
+ * Fixed wing horizontal control.
  *
  */
 
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.h b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.h
index 2a9bcb8c11..4b94f56c9e 100644
--- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.h
+++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.h
@@ -17,12 +17,12 @@
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
- *
  */
 
 /**
+ * @file firmwares/fixedwing/stabilization/stabilization_attitude.h
  *
- * fixed wing horizontal control
+ * Fixed wing horizontal control.
  *
  */