allow xml in module description

conf/modules/gps_ubx_i2c.xml

@@ -4,6 +4,12 @@
   <doc>
     <description>
       U-blox GPS (I2C)
+      This module provides an I2C interface that can then be used in the gps_ublox module:
+@verbatim
+<module name="gps_ublox">
+  <configure name="UBX_GPS_PORT" value="gps_i2c"/>
+</module>
+@endverbatim
     </description>
     <configure name="GPS_UBX_I2C_DEV" value="i2cX" description="set i2c peripheral (default: i2c1)"/>
   </doc>

conf/modules/module.dtd

@@ -14,7 +14,7 @@
 <!ELEMENT datalink EMPTY>
 <!ELEMENT makefile (configure|define|flag|file|file_arch|raw)*>
 <!ELEMENT section (define|configure)*>
-<!ELEMENT description (#PCDATA)>
+<!ELEMENT description (#CDATA)>
 <!ELEMENT configure EMPTY>
 <!ELEMENT define EMPTY>
 <!ELEMENT flag EMPTY>

conf/modules/nav_survey_polygon.xml

@@ -15,7 +15,7 @@ In the flight plan, the survey blocks call init and run functions:
   - min_rad       minimal radius when navigating
   - altitude      the altitude that must be reached before the flyover starts
 2. Run the survey with nav_survey_polygon_run()
-<!--
+
 Block example:
 @verbatim
 <block name="Poly Survey" strip_button="Poly Survey">
@@ -23,7 +23,6 @@ Block example:
   <call fun="nav_survey_polygon_run()"/>
 </block>
 @endverbatim
--->
     </description>
   </doc>
   <header>

conf/modules/nav_survey_rectangle_rotorcraft.xml

@@ -13,7 +13,7 @@ In the flight plan, the survey blocks call init and run functions:
   - sweep_width   distance between the sweeps
   - angle         NS or WE orientation
 2. Run the survey with nav_survey_rectangle_rotorcraft_run(WP1,WP2)
-<!--
+
 Block example:
 @verbatim
 <block name="Poly Survey" strip_button="Poly Survey">
@@ -25,12 +25,11 @@ or using flightplan primitive
   <survey_rectangle grid="30" orientation="NS" wp1="S1" wp2="S2"/>
 </block>
 @endverbatim
--->
     </description>
     <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="25" description="default sweep distance when using dinamic setup"/>
   </doc>
-  
+
-    <settings>
+  <settings>
     <dl_settings>
       <dl_settings NAME="Ret_Survey">
         <dl_setting min="10" max="500" step="1" var="sweep" type="float" shortname="Distance" module="modules/nav/nav_survey_rectangle_rotorcraft"/>

sw/tools/doxygen_gen/gen_modules_doc.py

@@ -171,14 +171,28 @@ def module_configuration(module, mname):
 def get_module_name(module):
     return module.get('name')
 
+def remove_prefix(text, prefix):
+    if text.startswith(prefix):
+        return text[len(prefix):]
+    return text
+
+def remove_postfix(text, postfix):
+    if text.endswith(postfix):
+        return text[:-len(postfix)]
+    return text
+
 def get_module_description(module):
     desc = module.find("./doc/description")
     details = "No detailed description...\n"
     if desc is None or desc.text is None:
         brief = module.get('name').replace('_', ' ').title()
     else:
+        # use tostring instead of desc.text to allow xml stuff in description
+        text = ET.tostring(desc, method="xml").strip()
+        text = remove_prefix(text, "<description>")
+        text = remove_postfix(text, "</description>")
         # treat first line until dot as brief
-        d = re.split(r'\.|\n', desc.text.strip(), 1)
+        d = re.split(r'\.|\n', text.strip(), 1)
         brief = d[0].strip()
         if len(d) > 1:
             details = d[1].strip()+"\n"