diff --git a/Doxyfile b/Doxyfile
index 5747c8fe8b..fb6c91fc1e 100644
--- a/Doxyfile
+++ b/Doxyfile
@@ -17,7 +17,7 @@
 # The PROJECT_NAME tag is a single word (or a sequence of words surrounded 
 # by quotes) that should identify the project.
 
-PROJECT_NAME           = Paparazzi
+PROJECT_NAME           = Paparazzi3
 
 # The PROJECT_NUMBER tag can be used to enter a project or revision number. 
 # This could be handy for archiving the generated documentation or 
@@ -153,7 +153,7 @@ MULTILINE_CPP_IS_BRIEF = NO
 # If set to NO, the detailed description appears after the member 
 # documentation.
 
-DETAILS_AT_TOP         = NO
+DETAILS_AT_TOP         = YES
 
 # If the INHERIT_DOCS tag is set to YES (the default) then an undocumented 
 # member inherits the documentation from any documented member that it 
@@ -224,12 +224,12 @@ EXTRACT_ALL            = YES
 # If the EXTRACT_PRIVATE tag is set to YES all private members of a class 
 # will be included in the documentation.
 
-EXTRACT_PRIVATE        = NO
+EXTRACT_PRIVATE        = YES
 
 # If the EXTRACT_STATIC tag is set to YES all static members of a file 
 # will be included in the documentation.
 
-EXTRACT_STATIC         = NO
+EXTRACT_STATIC         = YES
 
 # If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) 
 # defined locally in source files will be included in the documentation. 
@@ -450,7 +450,7 @@ WARN_LOGFILE           =
 # directories like "/usr/src/myproject". Separate the files or directories 
 # with spaces.
 
-INPUT                  = var/include var/Twin1 sw/airborne/avr sw/airborne
+INPUT                  = sw/airborne/booz_priv sw/airborne/booz_priv/ sw/airborne/booz_priv/arm7 sw/airborne/ sw/airborne/arm7 
 
 # 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 
@@ -545,7 +545,7 @@ FILTER_SOURCE_FILES    = NO
 # Note: To get rid of all source code in the generated output, make sure also 
 # VERBATIM_HEADERS is set to NO.
 
-SOURCE_BROWSER         = NO
+SOURCE_BROWSER         = YES
 
 # Setting the INLINE_SOURCES tag to YES will include the body 
 # of functions and classes directly in the documentation.
@@ -969,7 +969,7 @@ SEARCH_INCLUDES        = YES
 # contain include files that are not input files but should be processed by 
 # the preprocessor.
 
-INCLUDE_PATH           = 
+INCLUDE_PATH           = var/BOOZ2_flixr var/include sw/include sw/airborne/booz_priv sw/airborne/booz_priv/ sw/airborne/booz_priv/arm7 sw/airborne/ sw/airborne/arm7 var/BOOZ2_flixr
 
 # You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard 
 # patterns (like *.h and *.hpp) to filter out the header-files in the 
@@ -986,7 +986,7 @@ INCLUDE_FILE_PATTERNS  =
 # undefined via #undef or recursively expanded use the := operator 
 # instead of the = operator.
 
-PREDEFINED             = 
+PREDEFINED             = KILL_SWITCH USE_BUSS_TWI_BLMC USE_AMI601
 
 # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then 
 # this tag can be used to specify a list of macro names that should be expanded. 
diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index e4fa49625f..2d1419f4ed 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -51,8 +51,8 @@
     <define name="ACCEL_Y_NEUTRAL" value="32204"/>
     <define name="ACCEL_Z_NEUTRAL" value="33009"/>
 
-    <define name="MAG_X_CHAN" value="0"/>
-    <define name="MAG_Y_CHAN" value="1"/>
+    <define name="MAG_X_CHAN" value="4"/>
+    <define name="MAG_Y_CHAN" value="0"/>
     <define name="MAG_Z_CHAN" value="2"/>
     
     <define name="MAG_X_NEUTRAL" value="2358"/>