diff --git a/sw/airborne/boards/ardrone/board.c b/sw/airborne/boards/ardrone/board.c
index 9602d7556d..0de5b3a3af 100644
--- a/sw/airborne/boards/ardrone/board.c
+++ b/sw/airborne/boards/ardrone/board.c
@@ -19,7 +19,7 @@
  */
 
 /**
- * @file board.c
+ * @file boards/ardrone/board.c
  *
  * ARDrone2 specific board initialization function.
  *
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
index 3ec0b9a3d9..1a78882800 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file firmwares/rotorcraft/guidance_indi.c
+ * @file firmwares/rotorcraft/guidance/guidance_indi.c
  *
  * A guidance mode based on Incremental Nonlinear Dynamic Inversion
  * Come to ICRA2016 to learn more!
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h
index 03db8792b1..eeca34b5c7 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file firmwares/rotorcraft/guidance_indi.h
+ * @file firmwares/rotorcraft/guidance/guidance_indi.h
  *
  * A guidance mode based on Incremental Nonlinear Dynamic Inversion
  * Come to ICRA2016 to learn more!
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_defaults.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_defaults.h
index fafdf1a90a..100001d587 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_defaults.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_defaults.h
@@ -19,7 +19,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file firmwares/rotorcraft/stabilization/attitude_ref_defaults.h
+/** @file firmwares/rotorcraft/stabilization/stabilization_attitude_ref_defaults.h
  *  Default values for attitude reference saturation.
  */
 
diff --git a/sw/airborne/mcu_periph/udp.c b/sw/airborne/mcu_periph/udp.c
index 99a67464d2..bac4e0d009 100644
--- a/sw/airborne/mcu_periph/udp.c
+++ b/sw/airborne/mcu_periph/udp.c
@@ -75,7 +75,7 @@ void udp_periph_init(struct udp_periph *p, char *host, int port_out, int port_in
  * Check if there is enough free space in the transmit buffer.
  * @param p   pointer to UDP peripheral
  * @param len how many bytes of free space to check for
- * @return TRUE if enough space for #len bytes
+ * @return TRUE if enough space for len bytes
  */
 bool_t udp_check_free_space(struct udp_periph *p, uint8_t len)
 {
diff --git a/sw/airborne/modules/computer_vision/lib/v4l/v4l2.c b/sw/airborne/modules/computer_vision/lib/v4l/v4l2.c
index 1773d4f866..857da3174e 100644
--- a/sw/airborne/modules/computer_vision/lib/v4l/v4l2.c
+++ b/sw/airborne/modules/computer_vision/lib/v4l/v4l2.c
@@ -171,7 +171,7 @@ bool_t v4l2_init_subdev(char *subdev_name, uint8_t pad, uint8_t which, uint16_t
  * Note that the device must be closed with v4l2_close(dev) at the end.
  * @param[in] device_name The video device name (like /dev/video1)
  * @param[in] width,height The width and height of the images
- * @param[in] buffer_cnt The amount of buffers used for mapping
+ * @param[in] buffers_cnt The amount of buffers used for mapping
  * @return The newly create V4L2 device
  */
 struct v4l2_device *v4l2_init(char *device_name, uint16_t width, uint16_t height, uint8_t buffers_cnt,
diff --git a/sw/airborne/modules/computer_vision/lib/vision/bayer.h b/sw/airborne/modules/computer_vision/lib/vision/bayer.h
index 340df90c7b..c9fd9c97cb 100644
--- a/sw/airborne/modules/computer_vision/lib/vision/bayer.h
+++ b/sw/airborne/modules/computer_vision/lib/vision/bayer.h
@@ -21,7 +21,7 @@
  */
 
 /**
- * @file modules/computer_vision/lib/vision/bayer.c
+ * @file modules/computer_vision/lib/vision/bayer.h
  */
 
 #ifndef Bayer_H
diff --git a/sw/airborne/modules/computer_vision/lib/vision/fast_rosten.c b/sw/airborne/modules/computer_vision/lib/vision/fast_rosten.c
index d457d671e3..2444140b66 100644
--- a/sw/airborne/modules/computer_vision/lib/vision/fast_rosten.c
+++ b/sw/airborne/modules/computer_vision/lib/vision/fast_rosten.c
@@ -43,7 +43,7 @@ static void fast_make_offsets(int32_t *pixel, uint16_t row_stride, uint8_t pixel
  * @param[in] min_dist The minimum distance in pixels between detections
  * @param[in] x_padding The padding in the x direction to not scan for corners
  * @param[in] y_padding The padding in the y direction to not scan for corners
- * @param[out] *num_corner The amount of corners found
+ * @param[out] *num_corners The amount of corners found
  * @return The corners found
  */
 struct point_t *fast9_detect(struct image_t *img, uint8_t threshold, uint16_t min_dist, uint16_t x_padding, uint16_t y_padding, uint16_t *num_corners) {
diff --git a/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.c b/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.c
index ac4f9b52c4..042cc8c264 100644
--- a/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.c
+++ b/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.c
@@ -42,12 +42,12 @@
  * @param[in] *new_img The newest grayscale image (TODO: fix YUV422 support)
  * @param[in] *old_img The old grayscale image (TODO: fix YUV422 support)
  * @param[in] *points Points to start tracking from
- * @param[in/out] points_cnt The amount of points and it returns the amount of points tracked
+ * @param[in,out] points_cnt The amount of points and it returns the amount of points tracked
  * @param[in] half_window_size Half the window size (in both x and y direction) to search inside
  * @param[in] subpixel_factor The subpixel factor which calculations should be based on
- * @param[in] max_iteration Maximum amount of iterations to find the new point
+ * @param[in] max_iterations Maximum amount of iterations to find the new point
  * @param[in] step_threshold The threshold at which the iterations should stop
- * @param[in] max_point The maximum amount of points to track, we skip x points and then take a point.
+ * @param[in] max_points The maximum amount of points to track, we skip x points and then take a point.
  * @return The vectors from the original *points in subpixels
  */
 struct flow_t *opticFlowLK(struct image_t *new_img, struct image_t *old_img, struct point_t *points, uint16_t *points_cnt,
diff --git a/sw/airborne/modules/computer_vision/opticflow/linear_flow_fit.c b/sw/airborne/modules/computer_vision/opticflow/linear_flow_fit.c
index 4bee387d1b..93d109aef0 100644
--- a/sw/airborne/modules/computer_vision/opticflow/linear_flow_fit.c
+++ b/sw/airborne/modules/computer_vision/opticflow/linear_flow_fit.c
@@ -22,7 +22,7 @@
  */
 
 /*
- * @file paparazzi/sw/ext/ardrone2_vision/cv/opticflow/linear_flow_fit.c
+ * @file modules/computer_vision/opticflow/linear_flow_fit.c
  * @brief Takes a set of optical flow vectors and extracts information such as relative velocities and surface roughness.
  *
  * A horizontal and vertical linear fit is made with the optical flow vectors, and from the fit parameters information is extracted such as relative velocities (useful for time-to-contact determination), slope angle, and surface roughness.
@@ -53,7 +53,7 @@
 /**
  * Analyze a linear flow field, retrieving information such as divergence, surface roughness, focus of expansion, etc.
  * @param[out] outcome If 0, there were too few vectors for a fit. If 1, the fit was successful.
- * @param[in] flow_t* vectors The optical flow vectors
+ * @param[in] vectors The optical flow vectors
  * @param[in] count The number of optical flow vectors
  * @param[in] error_threshold Error used to determine inliers / outliers.
  * @param[in] n_iterations Number of RANSAC iterations.
@@ -89,7 +89,7 @@ int analyze_linear_flow_field(struct flow_t *vectors, int count, float error_thr
 
 /**
  * Analyze a linear flow field, retrieving information such as divergence, surface roughness, focus of expansion, etc.
- * @param[in] flow_t* vectors The optical flow vectors
+ * @param[in] vectors The optical flow vectors
  * @param[in] count The number of optical flow vectors
  * @param[in] error_threshold Error used to determine inliers / outliers.
  * @param[in] n_iterations Number of RANSAC iterations.
diff --git a/sw/airborne/modules/computer_vision/opticflow/size_divergence.c b/sw/airborne/modules/computer_vision/opticflow/size_divergence.c
index 349f43ee09..b825e590de 100644
--- a/sw/airborne/modules/computer_vision/opticflow/size_divergence.c
+++ b/sw/airborne/modules/computer_vision/opticflow/size_divergence.c
@@ -36,10 +36,10 @@
 
 /**
  * Get divergence from optical flow vectors based on line sizes between corners
- * @param[out] divergence
- * @param[in] flow_t* vectors The optical flow vectors
- * @param[in] count The number of optical flow vectors
- * @param[in] n_samples The number of line segments that will be taken into account. 0 means all line segments will be considered.
+ * @param[in] vectors    The optical flow vectors
+ * @param[in] count      The number of optical flow vectors
+ * @param[in] n_samples  The number of line segments that will be taken into account. 0 means all line segments will be considered.
+ * @return divergence
  */
 float get_size_divergence(struct flow_t *vectors, int count, int n_samples)
 {
@@ -128,9 +128,9 @@ float get_size_divergence(struct flow_t *vectors, int count, int n_samples)
 
 /**
  * Get the sample mean of a vector of floats
- * @param[out] mean
- * @param[in] float* numbers Vector of numbers
- * @param[in] n_elements Number of elements
+ * @param[in] numbers     Vector of numbers
+ * @param[in] n_elements  Number of elements
+ * @return mean
  */
 float get_mean(float *numbers, int n_elements)
 {
diff --git a/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.c b/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.c
index 352e721cc2..3b33cd489b 100644
--- a/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.c
+++ b/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.c
@@ -19,7 +19,7 @@
  */
 
 /**
- * @file modules/ctrl/vertical_control_module.h
+ * @file modules/ctrl/vertical_ctrl_module_demo.c
  * @brief example vertical controller
  *
  */
diff --git a/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.h b/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.h
index 9e0bdb3d71..00ce243323 100644
--- a/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.h
+++ b/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.h
@@ -19,7 +19,7 @@
  */
 
 /**
- * @file modules/ctrl/vertical_ctrl_module_demo.c
+ * @file modules/ctrl/vertical_ctrl_module_demo.h
  * @brief example vertical
  *
  * Implements an example vertical controller in a module.
diff --git a/sw/airborne/modules/nav/nav_survey_poly_osam.h b/sw/airborne/modules/nav/nav_survey_poly_osam.h
index 68880d741e..cb3f8455f9 100644
--- a/sw/airborne/modules/nav/nav_survey_poly_osam.h
+++ b/sw/airborne/modules/nav/nav_survey_poly_osam.h
@@ -48,11 +48,11 @@ extern bool_t nav_survey_poly_osam_setup(uint8_t FirstWP, uint8_t Size, float Sw
  * Computes the sweep orientation angle from the line FirstWP-SecondWP.
  * If you pass zero for Size and/or Sweep it will use the global Poly_Size and
  * Poly_Sweep variables respectively (which can be changed via telemetry/settings).
- * @param FirstWp   first waypoint/corner of the polygon
+ * @param FirstWP   first waypoint/corner of the polygon
  * @param Size      number of waypoints/corners used to define the polygon,
  *                  if zero uses Poly_Size
  * @param Sweep     distance between scan lines, if zero uses Poly_Sweep
- * @param SecondWp  second waypoint towards which the sweep orientation is computed
+ * @param SecondWP  second waypoint towards which the sweep orientation is computed
  */
 extern bool_t nav_survey_poly_osam_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP);
 
diff --git a/sw/airborne/modules/nav/nav_survey_poly_rotorcraft.h b/sw/airborne/modules/nav/nav_survey_poly_rotorcraft.h
index a9567502ff..1981ecf871 100644
--- a/sw/airborne/modules/nav/nav_survey_poly_rotorcraft.h
+++ b/sw/airborne/modules/nav/nav_survey_poly_rotorcraft.h
@@ -48,11 +48,11 @@ extern bool_t nav_survey_poly_setup(uint8_t FirstWP, uint8_t Size, float Sweep,
  * Computes the sweep orientation angle from the line FirstWP-SecondWP.
  * If you pass zero for Size and/or Sweep it will use the global Poly_Size and
  * Poly_Sweep variables respectively (which can be changed via telemetry/settings).
- * @param FirstWp   first waypoint/corner of the polygon
+ * @param FirstWP   first waypoint/corner of the polygon
  * @param Size      number of waypoints/corners used to define the polygon,
  *                  if zero uses Poly_Size
  * @param Sweep     distance between scan lines, if zero uses Poly_Distance
- * @param SecondWp  second waypoint towards which the sweep orientation is computed
+ * @param SecondWP  second waypoint towards which the sweep orientation is computed
  */
 extern bool_t nav_survey_poly_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP);
 
diff --git a/sw/airborne/modules/sensors/aoa_pwm.h b/sw/airborne/modules/sensors/aoa_pwm.h
index 252ce946c5..7834e2e2fc 100644
--- a/sw/airborne/modules/sensors/aoa_pwm.h
+++ b/sw/airborne/modules/sensors/aoa_pwm.h
@@ -19,7 +19,7 @@
 */
 
 /**
-* @file "modules/sensors/aoa_ppm.h"
+* @file "modules/sensors/aoa_pwm.h"
 * @author Jean-François Erdelyi
 * @brief Angle of Attack sensor on PWM
 *
diff --git a/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.c b/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.c
index 910ea7543c..ce8196b72a 100644
--- a/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.c
+++ b/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.c
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file modules/stereocam/nav_line_avoid/stereoavoid.c
+ * @file modules/stereocam/nav_line_avoid/stereo_avoid.c
  *
  * Parse avoidance messages from stereocamera to use obstacle results in navigation
  */
diff --git a/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.h b/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.h
index ff7170d285..08c84969e2 100644
--- a/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.h
+++ b/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file modules/stereocam/nav_line_avoid/stereoavoid.h
+ * @file modules/stereocam/nav_line_avoid/stereo_avoid.h
  *
  */