diff --git a/Doxyfile b/Doxyfile
index 9c05b4bed4..7f6269cd89 100644
--- a/Doxyfile
+++ b/Doxyfile
@@ -450,7 +450,7 @@ WARN_LOGFILE           =
 # directories like "/usr/src/myproject". Separate the files or directories 
 # with spaces.
 
-INPUT                  = sw/airborne/autopilot sw/airborne/fly_by_wire var/Twin1
+INPUT                  = sw/airborne/autopilot sw/airborne/fly_by_wire var/include var/Twin1
 
 # If the value of the INPUT tag contains directories, you can use the 
 # FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp 
diff --git a/sw/airborne/autopilot/adc.h b/sw/airborne/autopilot/adc.h
index 3949cb6785..577322f050 100644
--- a/sw/airborne/autopilot/adc.h
+++ b/sw/airborne/autopilot/adc.h
@@ -28,6 +28,10 @@
 /** \file adc.h
  *  \brief Analog to Digital Converter API
  *
+ * Facility to store last values in a circular buffer for a specific
+ *   channel:
+ *  - allocate a (struct adc_buf)
+ *  - register it with the ::adc_buf_channel function
  */
 
 #ifndef _ADC_H_
@@ -40,10 +44,7 @@
 #define MAX_AV_NB_SAMPLE 0x20
 #define DEFAULT_AV_NB_SAMPLE 0x20
 
-/** Facility to store last values in a circular buffer for a specific
- *   channel:
- *  - allocate a (struct adc_buf)
- *   - register it with the ::adc_buf_channel function
+/** 
 */
 
 /** Data structure used to store samples */
diff --git a/sw/airborne/autopilot/nav.h b/sw/airborne/autopilot/nav.h
index cb07a30b11..1a6e80f737 100644
--- a/sw/airborne/autopilot/nav.h
+++ b/sw/airborne/autopilot/nav.h
@@ -1,7 +1,7 @@
 /*
  * Paparazzi mcu0 $Id$
  *  
- * Copyright (C) 2003  Pascal Brisset, Antoine Drouin
+ * Copyright (C) 2003-2005  Pascal Brisset, Antoine Drouin
  *
  * This file is part of paparazzi.
  *
@@ -21,9 +21,12 @@
  * Boston, MA 02111-1307, USA. 
  *
  */
+
 /** \file nav.h
- *  \brief @@@@@ A FIXER @@@@@
- *
+ *  \brief Navigation library
+ * 
+ * This collection of macros and functions is used by the C code generated
+ * from the XML flight plan
  */
 
 #ifndef NAV_H
@@ -36,6 +39,7 @@ struct point {
   float y;
   float a;
 };
+
 extern float cur_pos_x;
 extern float cur_pos_y;
 extern uint8_t nav_stage, nav_block;
@@ -52,12 +56,16 @@ extern float desired_altitude, desired_x, desired_y;
 extern uint16_t nav_desired_gaz;
 extern float nav_pitch, rc_pitch;
 extern bool_t too_far_from_home;
-/** in seconde */
+
+/** in second */
 extern uint16_t stage_time, block_time;
-/** in seconde */
+
+/** in second */
 extern float stage_time_ds;
-/** in number of circle */
+
+/** One full circle == 1. */
 extern float circle_count;
+
 extern float nav_desired_roll;
 extern float carrot_x, carrot_y;
 
@@ -72,20 +80,17 @@ extern uint8_t horizontal_mode;
 #define HORIZONTAL_MODE_ROUTE 1
 #define HORIZONTAL_MODE_CIRCLE 2
 
+#define MoveWaypoint(_id, _ux, _uy, _a) { \
+  if (_id < nb_waypoint) { \
+    waypoints[_id].x = _ux - nav_utm_east0; \
+    waypoints[_id].y = _uy - nav_utm_north0; \
+    waypoints[_id].a = _a; \
+  } \
+}
 
 void nav_update(void);
 void nav_home(void);
 void nav_init(void);
 void nav_without_gps(void);
 
-#define MoveWaypoint(_id, _ux, _uy, _a) { \
-  if (_id < nb_waypoint) { \
-    waypoints[_id].x = _ux - nav_utm_east0; \
-    waypoints[_id].y = _uy - nav_utm_north0; \
-    waypoints[_id].a = _a; \
-    /*** printf("%d:x=%.0f y=%.0f a=%.0f\n",_id, waypoints[_id].x, waypoints[_id].y, _a); ***/  \
-  } \
-}
-
-
 #endif /* NAV_H */