diff --git a/flight/sys/link_stm32f10x_HD.ld b/flight/sys/link_stm32f10x_HD.ld
index 57efa107a..6b6ba6ef0 100644
--- a/flight/sys/link_stm32f10x_HD.ld
+++ b/flight/sys/link_stm32f10x_HD.ld
@@ -1,14 +1,12 @@
-
 /**
- * Project: OpenPilot
- *    
- * @author The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
- *    
- * @file link_stm32f10x_HD.ld
- * PiOS linker for the OpenPilot board
+ ******************************************************************************
  *
- * @see The GNU Public License (GPL)
- */
+ * @file       link_stm32f10x_HD.ld   
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
+ * @brief      PiOS linker for the OpenPilot board
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
 /* 
  * This program is free software; you can redistribute it and/or modify 
  * it under the terms of the GNU General Public License as published by 
diff --git a/flight/sys/pios.c b/flight/sys/pios.c
index ad7436435..1e4fe3a5e 100644
--- a/flight/sys/pios.c
+++ b/flight/sys/pios.c
@@ -1,15 +1,13 @@
-
 /**
- * Project: OpenPilot
- *    
- * @author The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
- *    
- * @file pios.c
- * PiOS build, sets up main tasks, tickhook, and contains the Main function
- * It all starts from here
+ ******************************************************************************
  *
- * @see The GNU Public License (GPL)
- */
+ * @file       pios.c 
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
+ * @brief      Sets up main tasks, tickhook, and contains the Main function.
+ *                 - It all starts from here!
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
 /* 
  * This program is free software; you can redistribute it and/or modify 
  * it under the terms of the GNU General Public License as published by 
diff --git a/flight/sys/pios.h b/flight/sys/pios.h
index fdd268be9..7d83958c7 100644
--- a/flight/sys/pios.h
+++ b/flight/sys/pios.h
@@ -1,14 +1,13 @@
-
 /**
- * Project: OpenPilot
- *    
- * @author The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
- *    
- * @file pios.h
- * PiOS header. Central header for the project
+ ******************************************************************************
  *
- * @see The GNU Public License (GPL) 
- */
+ * @file       pios.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
+ * @brief      Main PiOS header. 
+ *                 - Central header for the project.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
 /* 
  * This program is free software; you can redistribute it and/or modify 
  * it under the terms of the GNU General Public License as published by 
@@ -46,15 +45,15 @@
 #include <minIni.h>
 
 /* PIOS Hardware Includes */
-#include <pios_board.h>
-#include <pios_sys.h>
-#include <pios_settings.h>
-#include <pios_led.h>
-#include <pios_uart.h>
-#include <pios_irq.h>
+#include "pios_board.h"
+#include "pios_sys.h"
+#include "pios_settings.h"
+#include "pios_led.h"
+#include "pios_uart.h"
+#include "pios_irq.h"
 
-//#include <pios_spi.h>
-//#include <pios_uart.h>
+//#include "pios_spi.h"
+//#include "pios_uart.h"
 
 /* More added here as they get written */
 
diff --git a/flight/sys/pios_board.h b/flight/sys/pios_board.h
index 8c33f5065..92db3aa06 100644
--- a/flight/sys/pios_board.h
+++ b/flight/sys/pios_board.h
@@ -1,14 +1,12 @@
-
 /**
- * Project: OpenPilot
- *    
- * @author The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
+ ******************************************************************************
  *
- * @file pios_board.h
- * Defines board hardware for the OpenPilot hardware
- *   
- * @see The GNU Public License (GPL)
- */
+ * @file       pios_board.h   
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
+ * @brief      Defines board hardware for the OpenPilot hardware.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
 /* 
  * This program is free software; you can redistribute it and/or modify 
  * it under the terms of the GNU General Public License as published by 
diff --git a/flight/sys/pios_irq.c b/flight/sys/pios_irq.c
index 6f2a9edf3..142d62f92 100644
--- a/flight/sys/pios_irq.c
+++ b/flight/sys/pios_irq.c
@@ -1,14 +1,13 @@
-
 /**
- * Project: OpenPilot
- *    
- * @author The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
- *    
- * @file pios_irq.c
- * IRQ Enable/Disable routines
+ ******************************************************************************
  *
- * @see The GNU Public License (GPL)
- */
+ * @file       pios_irq.c  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
+ * @brief      IRQ Enable/Disable routines
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   PIOS_IRQ
+ *
+ *****************************************************************************/
 /* 
  * This program is free software; you can redistribute it and/or modify 
  * it under the terms of the GNU General Public License as published by 
diff --git a/flight/sys/pios_irq.h b/flight/sys/pios_irq.h
index dd288681b..bfc5b2ee0 100644
--- a/flight/sys/pios_irq.h
+++ b/flight/sys/pios_irq.h
@@ -1,14 +1,12 @@
-
 /**
- * Project: OpenPilot
- *    
- * @author The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
- *  
- * @file pios_irq.h
- * IRQ functions header 
- *  
- * @see The GNU Public License (GPL)
- */
+ ******************************************************************************
+ *
+ * @file       pios_irq.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
+ * @brief      IRQ functions header.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
 /* 
  * This program is free software; you can redistribute it and/or modify 
  * it under the terms of the GNU General Public License as published by 
diff --git a/flight/sys/pios_led.c b/flight/sys/pios_led.c
index a4439aca9..6f54d0f86 100644
--- a/flight/sys/pios_led.c
+++ b/flight/sys/pios_led.c
@@ -1,14 +1,13 @@
-
 /**
- * Project: OpenPilot
- *    
- * @author The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
+ ******************************************************************************
  *
- * @file pios_led.c
- * LED functions, init, toggle, on & off 
- *    
- * @see The GNU Public License (GPL)
- */
+ * @file       pios_led.c   
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
+ * @brief      LED functions, init, toggle, on & off.
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   PIOS_LED
+ *
+ *****************************************************************************/
 /* 
  * This program is free software; you can redistribute it and/or modify 
  * it under the terms of the GNU General Public License as published by 
diff --git a/flight/sys/pios_led.h b/flight/sys/pios_led.h
index bd3509df1..0a9a22411 100644
--- a/flight/sys/pios_led.h
+++ b/flight/sys/pios_led.h
@@ -1,14 +1,12 @@
-
 /**
- * Project: OpenPilot
- *    
- * @author The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
- *  
- * @file pios_led.h
- * LED functions header  
+ ******************************************************************************
  *
- * @see The GNU Public License (GPL)
- */
+ * @file       pios_led.h   
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
+ * @brief      LED functions header.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
 /* 
  * This program is free software; you can redistribute it and/or modify 
  * it under the terms of the GNU General Public License as published by 
diff --git a/flight/sys/pios_settings.c b/flight/sys/pios_settings.c
index 770e54a95..031c68a74 100644
--- a/flight/sys/pios_settings.c
+++ b/flight/sys/pios_settings.c
@@ -1,14 +1,13 @@
-
 /**
- * Project: OpenPilot
- *    
- * @author The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
- * 
- * @file pios_settings.c
- * Gets and sets settings, normally from SDCard  
+ ******************************************************************************
  *
- * @see The GNU Public License (GPL)
- */
+ * @file       pios_settings.c  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
+ * @brief      Gets and sets PiOS settings, normally from SDCard. 
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   PIOS_SETTINGS
+ *
+ *****************************************************************************/
 /* 
  * This program is free software; you can redistribute it and/or modify 
  * it under the terms of the GNU General Public License as published by 
diff --git a/flight/sys/pios_settings.h b/flight/sys/pios_settings.h
index 938dcb18a..2bd121587 100644
--- a/flight/sys/pios_settings.h
+++ b/flight/sys/pios_settings.h
@@ -1,14 +1,12 @@
-
 /**
- * Project: OpenPilot
- *    
- * @author The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
- * 
- * @file pios_settings.h
- * Settings functions header 
- *   
- * @see The GNU Public License (GPL)
- */
+ ******************************************************************************
+ *
+ * @file       pios_settings.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
+ * @brief      Settings functions header 
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
 /* 
  * This program is free software; you can redistribute it and/or modify 
  * it under the terms of the GNU General Public License as published by 
diff --git a/flight/sys/pios_sys.c b/flight/sys/pios_sys.c
index 7fff442d3..2a59df782 100644
--- a/flight/sys/pios_sys.c
+++ b/flight/sys/pios_sys.c
@@ -1,14 +1,13 @@
-
 /**
- * Project: OpenPilot
- *    
- * @author The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
- *    
- * @file pios_sys.c
- * Sets up basic system hardware, functions are called from the Main function
+ ******************************************************************************
  *
- * @see The GNU Public License (GPL)
- */
+ * @file       pios_sys.c  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
+ * @brief      Sets up basic system hardware, functions are called from Main.
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   PIOS_SYS
+ *
+ *****************************************************************************/
 /* 
  * This program is free software; you can redistribute it and/or modify 
  * it under the terms of the GNU General Public License as published by 
diff --git a/flight/sys/pios_sys.h b/flight/sys/pios_sys.h
index f1796d1e3..e37bbc04a 100644
--- a/flight/sys/pios_sys.h
+++ b/flight/sys/pios_sys.h
@@ -1,14 +1,12 @@
-
 /**
- * Project: OpenPilot
- *    
- * @author The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
- *    
- * @file pios_sys.h
- * System and hardware Init functions header 
+ ******************************************************************************
  *
- * @see The GNU Public License (GPL)
- */
+ * @file       pios_sys.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
+ * @brief      System and hardware Init functions header.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
 /* 
  * This program is free software; you can redistribute it and/or modify 
  * it under the terms of the GNU General Public License as published by 
diff --git a/flight/sys/pios_uart.c b/flight/sys/pios_uart.c
index 402b607db..c83ab3e3a 100644
--- a/flight/sys/pios_uart.c
+++ b/flight/sys/pios_uart.c
@@ -1,14 +1,13 @@
-
 /**
- * Project: OpenPilot
- *    
- * @author The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
- *    
- * @file pios_uart.c
- * UART commands. Inits USARTs, controls UARTs & Interupt handlers
+ ******************************************************************************
  *
- * @see The GNU Public License (GPL)
- */
+ * @file       pios_uart.c   
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
+ * @brief      UART commands. Inits UARTs, controls UARTs & Interupt handlers.
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   PIOS_UART
+ *
+ *****************************************************************************/
 /* 
  * This program is free software; you can redistribute it and/or modify 
  * it under the terms of the GNU General Public License as published by 
diff --git a/flight/sys/pios_uart.h b/flight/sys/pios_uart.h
index e6a30232d..294c599b2 100644
--- a/flight/sys/pios_uart.h
+++ b/flight/sys/pios_uart.h
@@ -1,14 +1,12 @@
-
 /**
- * Project: OpenPilot
- *    
- * @author The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
- *  
- * @file pios_uart.h
- * UART functions header 
- *  
- * @see The GNU Public License (GPL)
- */
+ ******************************************************************************
+ *
+ * @file       pios_uart.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.   
+ * @brief      UART functions header.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
 /* 
  * This program is free software; you can redistribute it and/or modify 
  * it under the terms of the GNU General Public License as published by