diff --git a/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c b/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c
index b64bffad3..20d6b363a 100644
--- a/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c
+++ b/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c
@@ -54,6 +54,18 @@
 #include "pios_opahrs.h" // library for OpenPilot AHRS access functions
 #include "pios_opahrs_proto.h"
 
+/**
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ */
+
+/**
+ * @addtogroup AHRSCommsModule AHRSComms Module
+ * @brief Handles communication with AHRS and updating position
+ * Specifically updates the the AttitudeActual and HeadingActual settings objects
+ * @{ 
+ */
+
 // Private constants
 #define STACK_SIZE 400
 #define TASK_PRIORITY (tskIDLE_PRIORITY+4)
diff --git a/flight/OpenPilot/Modules/Actuator/actuator.c b/flight/OpenPilot/Modules/Actuator/actuator.c
index 000af5ea6..4c0ded0d4 100644
--- a/flight/OpenPilot/Modules/Actuator/actuator.c
+++ b/flight/OpenPilot/Modules/Actuator/actuator.c
@@ -24,6 +24,17 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+/**
+  * @addtogroup OpenPilotModules OpenPilot Modules
+  * @{ 
+  */
+
+/**
+ * @addtogroup ActuatorModule Actuator Module
+ * @brief Compute servo/motor settings based on desired actuator positions and aircraft type
+ * @{ 
+ */
+
 #include "openpilot.h"
 #include "actuator.h"
 #include "actuatorsettings.h"
@@ -52,7 +63,8 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
 static void setFailsafe();
 
 /**
- * Module initialization
+ * @brief Module initialization
+ * @return 0
  */
 int32_t ActuatorInitialize()
 {
@@ -69,7 +81,7 @@ int32_t ActuatorInitialize()
 }
 
 /**
- * Main module task
+ * @brief Main module task
  */
 static void actuatorTask(void* parameters)
 {
@@ -157,7 +169,7 @@ static void actuatorTask(void* parameters)
 
 /**
  * Mixer for Fixed Wing airframes. Converts desired roll,pitch,yaw and throttle to servo outputs.
- * @return -1 if error, 0 if success
+ * @return -1 if error, 0 if success
  */
 static int32_t mixerFixedWing(const ActuatorSettingsData* settings, const ActuatorDesiredData* desired, ActuatorCommandData* cmd)
 {
@@ -229,7 +241,7 @@ static int32_t mixerVTOL(const ActuatorSettingsData* settings, const ActuatorDes
 }
 
 /**
- * Convert channel from -1/+1 to servo pulse duration in microseconds
+ * Convert channel from -1/+1 to servo pulse duration in microseconds
  */
 static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral)
 {
@@ -247,7 +259,7 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
 }
 
 /**
- * Set actuator output to the neutral values (failsafe)
+ * Set actuator output to the neutral values (failsafe)
  */
 static void setFailsafe()
 {
@@ -275,3 +287,11 @@ static void setFailsafe()
 	// Update output object
 	ActuatorCommandSet(&cmd);
 }
+
+/** 
+ * @}
+ */
+
+/** 
+  * @}
+  */
diff --git a/flight/OpenPilot/Modules/Altitude/altitude.c b/flight/OpenPilot/Modules/Altitude/altitude.c
index 222a03fd2..619e80f5a 100644
--- a/flight/OpenPilot/Modules/Altitude/altitude.c
+++ b/flight/OpenPilot/Modules/Altitude/altitude.c
@@ -34,6 +34,17 @@
 #include "openpilot.h"
 #include "altitudeactual.h" // object that will be updated by the module
 
+/**
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ */
+
+/**
+ * @addtogroup AltitudeModule Altitude Module
+ * @brief Communicate with BMP085 and update AltitudeActual
+ * @{ 
+ */
+
 // Private constants
 #define STACK_SIZE configMINIMAL_STACK_SIZE
 #define TASK_PRIORITY (tskIDLE_PRIORITY+3)
@@ -105,3 +116,11 @@ static void altitudeTask(void* parameters)
 		vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD / portTICK_RATE_MS );
 	}
 }
+
+/**
+  * @}
+  */
+
+/**
+ * @}
+ */
\ No newline at end of file
diff --git a/flight/OpenPilot/Modules/Altitude/inc/altitude.h b/flight/OpenPilot/Modules/Altitude/inc/altitude.h
index 366f0cf8e..c17d87141 100644
--- a/flight/OpenPilot/Modules/Altitude/inc/altitude.h
+++ b/flight/OpenPilot/Modules/Altitude/inc/altitude.h
@@ -26,7 +26,27 @@
 #ifndef ALTITUDE_H
 #define ALTITUDE_H
 
+/**
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ */
+
+/**
+ * @addtogroup AltitudeModule Altitude Module
+ * @brief Communicate with BMP085 and update AltitudeActual
+ * @{ 
+ */
+
 int32_t AltitudeInitialize();
 
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
 #endif // ALTITUDE_H
 
diff --git a/flight/OpenPilot/Modules/Battery/battery.c b/flight/OpenPilot/Modules/Battery/battery.c
index afa2f1f85..09ed0b60a 100644
--- a/flight/OpenPilot/Modules/Battery/battery.c
+++ b/flight/OpenPilot/Modules/Battery/battery.c
@@ -43,6 +43,19 @@
 
 #include "flightbatterystate.h"
 
+
+/**
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ */
+
+/**
+ * @addtogroup BatteryModule Battery Module
+ * @brief Measures battery voltage and current
+ * Updates the FlightBatteryState object
+ * @{ 
+ */
+
 //
 // Configuration
 //
@@ -116,3 +129,11 @@ static void task(void* parameters)
 		vTaskDelayUntil(&lastSysTime, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
 	}
 }
+
+/**
+  * @}
+  */
+
+/**
+ * @}
+ */
diff --git a/flight/OpenPilot/Modules/GPS/GPS.c b/flight/OpenPilot/Modules/GPS/GPS.c
index 5d20de245..3e2cdf065 100644
--- a/flight/OpenPilot/Modules/GPS/GPS.c
+++ b/flight/OpenPilot/Modules/GPS/GPS.c
@@ -28,6 +28,17 @@
 #include "GPS.h"
 #include "positionactual.h"
 
+/**
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ */
+
+/**
+ * @addtogroup GSPModule GPS Module
+ * @brief Process GPS information
+ * @{ 
+ */
+
 // constants/macros/typdefs
 #define NMEA_BUFFERSIZE		128
 
@@ -712,4 +723,10 @@ void nmeaProcessGPGSA(char* packet)
 
 }
 
+/** 
+  * @}
+  */
 
+/**
+  * @}
+  */
diff --git a/flight/OpenPilot/Modules/GPS/buffer.c b/flight/OpenPilot/Modules/GPS/buffer.c
index 9fe0e4197..01fa05151 100644
--- a/flight/OpenPilot/Modules/GPS/buffer.c
+++ b/flight/OpenPilot/Modules/GPS/buffer.c
@@ -46,6 +46,17 @@
 
 #include "buffer.h"
 
+/**
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ */
+
+/**
+ * @addtogroup GSPModule GPS Module
+ * @brief Process GPS information
+ * @{ 
+ */
+
 // global variables
 
 // initialization
@@ -137,3 +148,10 @@ void bufferFlush(cBuffer* buffer)
 	buffer->datalength = 0;
 }
 
+/** 
+  * @}
+  */
+
+/**
+  * @}
+  */
diff --git a/flight/OpenPilot/Modules/MK/MKSerial/MKSerial.c b/flight/OpenPilot/Modules/MK/MKSerial/MKSerial.c
index 2a6f89d67..37a668dcf 100644
--- a/flight/OpenPilot/Modules/MK/MKSerial/MKSerial.c
+++ b/flight/OpenPilot/Modules/MK/MKSerial/MKSerial.c
@@ -31,6 +31,17 @@
 #include "flightbatterystate.h"
 
 
+/**
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ */
+
+/**
+ * @addtogroup MKSerialModule MK Serial Control Module
+ * @brief Connect to MK module
+ * @{ 
+ */
+
 
 //
 // Configuration
@@ -612,3 +623,11 @@ int32_t MKSerialInitialize(void)
 
 	return 0;
 }
+
+/** 
+  * @}
+  */
+
+/** 
+ * @}
+ */
diff --git a/flight/OpenPilot/Modules/ManualControl/manualcontrol.c b/flight/OpenPilot/Modules/ManualControl/manualcontrol.c
index 72742b8e1..b2bf9d96f 100644
--- a/flight/OpenPilot/Modules/ManualControl/manualcontrol.c
+++ b/flight/OpenPilot/Modules/ManualControl/manualcontrol.c
@@ -32,6 +32,22 @@
 #include "actuatordesired.h"
 #include "attitudedesired.h"
 
+/**
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ */
+
+/**
+ * @addtogroup ManualControlModule Manual Control Module
+ * @brief Provide manual control or allow it alter flight mode
+ *
+ * Reads in the ManualControlCommand FlightMode setting from receiver then either 
+ * pass the settings straght to ActuatorDesired object (manual mode) or to
+ * AttitudeDesired object (stabilized mode)
+ * @{ 
+ */
+
+
 // Private constants
 #define STACK_SIZE configMINIMAL_STACK_SIZE
 #define TASK_PRIORITY (tskIDLE_PRIORITY+4)
@@ -49,7 +65,7 @@ static void manualControlTask(void* parameters);
 static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
 
 /**
- * Module initialization
+ * Module initialization
  */
 int32_t ManualControlInitialize()
 {
@@ -60,7 +76,7 @@ int32_t ManualControlInitialize()
 }
 
 /**
- * Module task
+ * Module task
  */
 static void manualControlTask(void* parameters)
 {
diff --git a/flight/OpenPilot/Modules/Osd/OsdEtStd/OsdEtStd.c b/flight/OpenPilot/Modules/Osd/OsdEtStd/OsdEtStd.c
index dc647986d..a334ef494 100644
--- a/flight/OpenPilot/Modules/Osd/OsdEtStd/OsdEtStd.c
+++ b/flight/OpenPilot/Modules/Osd/OsdEtStd/OsdEtStd.c
@@ -28,6 +28,17 @@
 #include "flightbatterystate.h"
 #include "positionactual.h"
 
+/**
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ */
+
+/**
+ * @addtogroup OSDModule OSD Module
+ * @brief On screen display support
+ * @{ 
+ */
+
 
 
 //
diff --git a/flight/OpenPilot/Modules/Stabilization/stabilization.c b/flight/OpenPilot/Modules/Stabilization/stabilization.c
index 0bf83448c..77137e9a4 100644
--- a/flight/OpenPilot/Modules/Stabilization/stabilization.c
+++ b/flight/OpenPilot/Modules/Stabilization/stabilization.c
@@ -33,6 +33,18 @@
 #include "manualcontrolcommand.h"
 #include "systemsettings.h"
 
+/**
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ */
+
+/**
+ * @addtogroup StabilizationModule Stabilization Module
+ * @brief Stabilization PID loops in an airframe type independent manner
+ * @{ 
+ */
+
+
 // Private constants
 #define STACK_SIZE configMINIMAL_STACK_SIZE
 #define TASK_PRIORITY (tskIDLE_PRIORITY+4)
@@ -164,7 +176,7 @@ static void stabilizationTask(void* parameters)
 }
 
 /**
- * Bound input value between limits
+ * Bound input value between limits
  */
 static float bound(float val, float min, float max)
 {
@@ -178,3 +190,11 @@ static float bound(float val, float min, float max)
 	}
 	return val;
 }
+
+/** 
+  * @}
+  */
+
+/** 
+ * @}
+ */
diff --git a/flight/OpenPilot/Modules/System/systemmod.c b/flight/OpenPilot/Modules/System/systemmod.c
index d2fa49a5a..b4685c7b3 100644
--- a/flight/OpenPilot/Modules/System/systemmod.c
+++ b/flight/OpenPilot/Modules/System/systemmod.c
@@ -29,6 +29,21 @@
 #include "objectpersistence.h"
 #include "systemstats.h"
 
+
+/**
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ */
+
+/**
+ * @addtogroup SystemModule Main System Module
+ * @brief Initializes PIOS and other modules runs monitoring
+ * After initializing all the modules (currently selected by Makefile but in
+ * future controlled by configuration on SD card) runs basic monitoring and
+ * alarms.
+ * @{ 
+ */
+
 // Private constants
 #define SYSTEM_UPDATE_PERIOD_MS 1000
 #define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998 // calibrated by running tests/test_cpuload.c
@@ -317,3 +332,10 @@ void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTask
 	stackOverflow = 1;
 }
 
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
\ No newline at end of file
diff --git a/flight/OpenPilot/Modules/Telemetry/telemetry.c b/flight/OpenPilot/Modules/Telemetry/telemetry.c
index 0cbc05daa..5b54ce787 100644
--- a/flight/OpenPilot/Modules/Telemetry/telemetry.c
+++ b/flight/OpenPilot/Modules/Telemetry/telemetry.c
@@ -28,6 +28,20 @@
 #include "gcstelemetrystats.h"
 #include "telemetrysettings.h"
 
+
+/**
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ */
+
+/**
+ * @addtogroup TelemetryModule Telemetry Module
+ * @brief Main telemetry module
+ * Starts three tasks (RX, TX, and priority TX) that watch event queues
+ * and handle all the telemetry of the UAVobjects
+ * @{ 
+ */
+
 // Set this to 1 to enable telemetry via the USB HID interface
 #define ALLOW_HID_TELEMETRY 0
 
@@ -551,3 +565,10 @@ static void updateSettings()
 	}
 }
 
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */