diff --git a/flight/OpenPilot/Modules/Osd/OsdEtStd/OsdEtStd.c b/flight/OpenPilot/Modules/Osd/OsdEtStd/OsdEtStd.c
index b5b4a4758..b10f89ca0 100644
--- a/flight/OpenPilot/Modules/Osd/OsdEtStd/OsdEtStd.c
+++ b/flight/OpenPilot/Modules/Osd/OsdEtStd/OsdEtStd.c
@@ -6,9 +6,9 @@
  * @brief On screen display support
  * @{ 
  *
- * @file       MKSerial.c
+ * @file       OsdEtStd.c
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Interfacing with MK via serial port
+ * @brief      Interfacing with EagleTree OSD Std module
  * @see        The GNU Public License (GPL) Version 3
  *
  *****************************************************************************/
diff --git a/flight/OpenPilot/System/alarms.c b/flight/OpenPilot/System/alarms.c
index 3207662d3..a492f3b20 100644
--- a/flight/OpenPilot/System/alarms.c
+++ b/flight/OpenPilot/System/alarms.c
@@ -1,6 +1,10 @@
 /**
  ******************************************************************************
- *
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotLibraries OpenPilot System Libraries
+ * @brief OpenPilot System libraries are available to all OP modules.
+ * @{
  * @file       alarms.c
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      Library for setting and clearing system alarms
@@ -178,3 +182,8 @@ static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
     xSemaphoreGiveRecursive(lock);
     return 0;
 }
+/**
+ * @}
+ * @}
+ */
+
diff --git a/flight/OpenPilot/System/inc/alarms.h b/flight/OpenPilot/System/inc/alarms.h
index d9b8f6461..7942976e1 100644
--- a/flight/OpenPilot/System/inc/alarms.h
+++ b/flight/OpenPilot/System/inc/alarms.h
@@ -1,6 +1,9 @@
 /**
  ******************************************************************************
- *
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotLibraries OpenPilot System Libraries
+ * @{
  * @file       alarms.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      Include file of the alarm library
@@ -38,3 +41,7 @@ int32_t AlarmsHasCritical();
 
 #endif // ALARMS_H
 
+/**
+ * @}
+ * @}
+ */
diff --git a/flight/OpenPilot/System/inc/op_config.h b/flight/OpenPilot/System/inc/op_config.h
index 581b94fe6..97910f392 100644
--- a/flight/OpenPilot/System/inc/op_config.h
+++ b/flight/OpenPilot/System/inc/op_config.h
@@ -1,5 +1,9 @@
 /**
  ******************************************************************************
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotCore OpenPilot Core
+ * @{
  *
  * @file       op_config.h  
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
@@ -29,3 +33,7 @@
 #define OP_CONFIG_H
 
 #endif /* OP_CONFIG_H */
+/**
+ * @}
+ * @}
+ */
diff --git a/flight/OpenPilot/System/inc/openpilot.h b/flight/OpenPilot/System/inc/openpilot.h
index f91436b09..0f0cab579 100644
--- a/flight/OpenPilot/System/inc/openpilot.h
+++ b/flight/OpenPilot/System/inc/openpilot.h
@@ -1,6 +1,9 @@
 /**
  ******************************************************************************
- *
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotCore OpenPilot Core
+ * @{
  * @file       openpilot.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      Main OpenPilot header.
@@ -43,3 +46,7 @@
 void OpenPilotInit(void);
 
 #endif /* OPENPILOT_H */
+/**
+ * @}
+ * @}
+ */
diff --git a/flight/OpenPilot/System/inc/pios_board.h b/flight/OpenPilot/System/inc/pios_board.h
index d31d7782b..5ba09a2df 100644
--- a/flight/OpenPilot/System/inc/pios_board.h
+++ b/flight/OpenPilot/System/inc/pios_board.h
@@ -1,6 +1,9 @@
 /**
  ******************************************************************************
- *
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotCore OpenPilot Core
+ * @{
  * @file       pios_board.h   
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      Defines board hardware for the OpenPilot Version 1.1 hardware.
@@ -367,3 +370,7 @@ TIM8  | Servo 5   | Servo 6   | Servo 7   | Servo 8
 
 
 #endif /* PIOS_BOARD_H */
+/**
+ * @}
+ * @}
+ */
diff --git a/flight/OpenPilot/System/inc/pios_config.h b/flight/OpenPilot/System/inc/pios_config.h
index 9b087ba74..b2d95d3f7 100644
--- a/flight/OpenPilot/System/inc/pios_config.h
+++ b/flight/OpenPilot/System/inc/pios_config.h
@@ -1,10 +1,16 @@
 /**
  ******************************************************************************
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotCore OpenPilot Core
+ * @{
  *
  * @file       pios_config.h  
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      PiOS configuration header. 
  *             Central compile time config for the project.
+ *             In particular, pios_config.h is where you define which PiOS libraries
+ *             and features are included in the firmware.
  * @see        The GNU Public License (GPL) Version 3
  *
  *****************************************************************************/
@@ -69,3 +75,7 @@
 
 
 #endif /* PIOS_CONFIG_H */
+/**
+ * @}
+ * @}
+ */
diff --git a/flight/OpenPilot/System/openpilot.c b/flight/OpenPilot/System/openpilot.c
index b9c4c7b12..47cbfdc21 100644
--- a/flight/OpenPilot/System/openpilot.c
+++ b/flight/OpenPilot/System/openpilot.c
@@ -1,6 +1,14 @@
 /**
  ******************************************************************************
- *
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @brief These files are the core system files of OpenPilot.
+ * They are the ground layer just above PiOS. In practice, OpenPilot actually starts
+ * in the main() function of openpilot.c
+ * @{
+ * @addtogroup OpenPilotCore OpenPilot Core
+ * @brief This is where the OP firmware starts. Those files also define the compile-time
+ * options of the firmware.
+ * @{
  * @file       openpilot.c 
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      Sets up and runs main OpenPilot tasks.
@@ -62,7 +70,13 @@ extern void InitModules(void);
 extern void PIOS_Board_Init(void);
 
 /**
-* OpenPilot Main function
+* OpenPilot Main function:
+*
+* Initialize PiOS<BR>
+* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
+* Start FreeRTOS Scheduler (vTaskStartScheduler)<BR>
+* If something goes wrong, blink LED1 and LED2 every 100ms
+*
 */
 int main()
 {
@@ -326,4 +340,8 @@ static void TaskSDCard(void *pvParameters)
 	}
 }
 #endif
+/**
+ * @}
+ * @}
+ */
 
diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c
index 8fc7744de..37be04332 100644
--- a/flight/OpenPilot/System/pios_board.c
+++ b/flight/OpenPilot/System/pios_board.c
@@ -1,5 +1,9 @@
 /**
  ******************************************************************************
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotCore OpenPilot Core
+ * @{
  *
  * @file       pios_board.c
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
@@ -503,3 +507,7 @@ struct pios_com_dev pios_com_devs[] = {
 
 const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);
 
+/**
+ * @}
+ */
+ */
diff --git a/flight/OpenPilot/System/pios_board_posix.c b/flight/OpenPilot/System/pios_board_posix.c
index bdce4c63b..01869aa8f 100644
--- a/flight/OpenPilot/System/pios_board_posix.c
+++ b/flight/OpenPilot/System/pios_board_posix.c
@@ -135,3 +135,7 @@ struct pios_com_dev pios_com_devs[] = {
 
 const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);
 
+/**
+ * @}
+ */
+ */
diff --git a/flight/OpenPilot/UAVTalk/inc/uavtalk.h b/flight/OpenPilot/UAVTalk/inc/uavtalk.h
index 14b6b6906..d31a2c92d 100644
--- a/flight/OpenPilot/UAVTalk/inc/uavtalk.h
+++ b/flight/OpenPilot/UAVTalk/inc/uavtalk.h
@@ -1,6 +1,9 @@
 /**
  ******************************************************************************
- *
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotLibraries OpenPilot System Libraries
+ * @{
  * @file       uavtalk.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      Include file of the UAVTalk library
@@ -54,3 +57,7 @@ void UAVTalkGetStats(UAVTalkStats* stats);
 void UAVTalkResetStats();
 
 #endif // UAVTALK_H
+/**
+ * @}
+ * @}
+ */
diff --git a/flight/OpenPilot/UAVTalk/uavtalk.c b/flight/OpenPilot/UAVTalk/uavtalk.c
index b66b6b640..1105d3ffc 100644
--- a/flight/OpenPilot/UAVTalk/uavtalk.c
+++ b/flight/OpenPilot/UAVTalk/uavtalk.c
@@ -1,5 +1,9 @@
 /**
  ******************************************************************************
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotLibraries OpenPilot System Libraries
+ * @{
  *
  * @file       uavtalk.c
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
@@ -610,6 +614,7 @@ static uint8_t updateCRC(uint8_t crc, const uint8_t* data, int32_t length)
     return crc;
 }
 
-
-
-
+/**
+ * @}
+ * @}
+ */