diff --git a/.gitignore b/.gitignore
index 6ae5baeccb..3fdc1bf2a2 100644
--- a/.gitignore
+++ b/.gitignore
@@ -26,4 +26,5 @@ Images/*.px4
 mavlink/include/mavlink/v0.9/
 /NuttX
 /Documentation/doxy.log
-/Documentation/html/
\ No newline at end of file
+/Documentation/html/
+/Documentation/doxygen*objdb*tmp
\ No newline at end of file
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index ae5fc6c61c..301cfa255f 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -37,6 +37,10 @@
  * Common object definitions without a better home.
  */
 
+/**
+ * @defgroup topics List of all uORB topics.
+ */
+
 #include <nuttx/config.h>
 
 #include <drivers/drv_orb_dev.h>
diff --git a/src/modules/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h
index b7c4196c0a..a27095be52 100644
--- a/src/modules/uORB/topics/actuator_controls.h
+++ b/src/modules/uORB/topics/actuator_controls.h
@@ -52,11 +52,20 @@
 #define NUM_ACTUATOR_CONTROLS		8
 #define NUM_ACTUATOR_CONTROL_GROUPS	4	/**< for sanity checking */
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct actuator_controls_s {
 	uint64_t timestamp;
 	float	control[NUM_ACTUATOR_CONTROLS];
 };
 
+/**
+ * @}
+ */
+
 /* actuator control sets; this list can be expanded as more controllers emerge */
 ORB_DECLARE(actuator_controls_0);
 ORB_DECLARE(actuator_controls_1);
diff --git a/src/modules/uORB/topics/actuator_controls_effective.h b/src/modules/uORB/topics/actuator_controls_effective.h
index 088c4fc8fe..d7b404ad42 100644
--- a/src/modules/uORB/topics/actuator_controls_effective.h
+++ b/src/modules/uORB/topics/actuator_controls_effective.h
@@ -53,11 +53,20 @@
 #define NUM_ACTUATOR_CONTROLS_EFFECTIVE		NUM_ACTUATOR_CONTROLS
 #define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE	NUM_ACTUATOR_CONTROL_GROUPS	/**< for sanity checking */
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct actuator_controls_effective_s {
 	uint64_t timestamp;
 	float	control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
 };
 
+/**
+ * @}
+ */
+
 /* actuator control sets; this list can be expanded as more controllers emerge */
 ORB_DECLARE(actuator_controls_effective_0);
 ORB_DECLARE(actuator_controls_effective_1);
diff --git a/src/modules/uORB/topics/actuator_outputs.h b/src/modules/uORB/topics/actuator_outputs.h
index bbe4290731..30895ca83f 100644
--- a/src/modules/uORB/topics/actuator_outputs.h
+++ b/src/modules/uORB/topics/actuator_outputs.h
@@ -52,12 +52,21 @@
 #define NUM_ACTUATOR_OUTPUTS		16
 #define NUM_ACTUATOR_OUTPUT_GROUPS	4	/**< for sanity checking */
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct actuator_outputs_s {
 	uint64_t timestamp;				/**< output timestamp in us since system boot */
 	float	output[NUM_ACTUATOR_OUTPUTS];		/**< output data, in natural output units */
 	int noutputs;					/**< valid outputs */
 };
 
+/**
+ * @}
+ */
+
 /* actuator output sets; this list can be expanded as more drivers emerge */
 ORB_DECLARE(actuator_outputs_0);
 ORB_DECLARE(actuator_outputs_1);
diff --git a/src/modules/uORB/topics/debug_key_value.h b/src/modules/uORB/topics/debug_key_value.h
index a9d1b83fdc..9253c787db 100644
--- a/src/modules/uORB/topics/debug_key_value.h
+++ b/src/modules/uORB/topics/debug_key_value.h
@@ -47,6 +47,7 @@
 
 /**
  * @addtogroup topics
+ * @{
  */
 
 /**
diff --git a/src/modules/uORB/topics/esc_status.h b/src/modules/uORB/topics/esc_status.h
index 00cf59b28f..11332d7a7a 100644
--- a/src/modules/uORB/topics/esc_status.h
+++ b/src/modules/uORB/topics/esc_status.h
@@ -51,10 +51,6 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
-/**
- * @addtogroup topics @{
- */
-
 /**
  * The number of ESCs supported.
  * Current (Q2/2013) we support 8 ESCs,
@@ -76,7 +72,12 @@ enum ESC_CONNECTION_TYPE {
 };
 
 /**
- *
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Electronic speed controller status.
  */
 struct esc_status_s
 {
diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h
index 253f444b3f..978a3383a5 100644
--- a/src/modules/uORB/topics/mission.h
+++ b/src/modules/uORB/topics/mission.h
@@ -46,11 +46,6 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
-/**
- * @addtogroup topics
- * @{
- */
-
 enum NAV_CMD {
 	NAV_CMD_WAYPOINT = 0,
 	NAV_CMD_LOITER_TURN_COUNT,
@@ -61,6 +56,11 @@ enum NAV_CMD {
 	NAV_CMD_TAKEOFF
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 /**
  * Global position setpoint in WGS84 coordinates.
  *
diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h
index 2e895c59c4..7901b930af 100644
--- a/src/modules/uORB/topics/offboard_control_setpoint.h
+++ b/src/modules/uORB/topics/offboard_control_setpoint.h
@@ -43,11 +43,6 @@
 #include <stdint.h>
 #include "../uORB.h"
 
-/**
- * @addtogroup topics
- * @{
- */
-
 /**
  * Off-board control inputs.
  * 
@@ -66,6 +61,11 @@ enum OFFBOARD_CONTROL_MODE
 	OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct offboard_control_setpoint_s {
 	uint64_t timestamp;
 
diff --git a/src/modules/uORB/topics/omnidirectional_flow.h b/src/modules/uORB/topics/omnidirectional_flow.h
index 8f4be3b3fe..a6ad8a1315 100644
--- a/src/modules/uORB/topics/omnidirectional_flow.h
+++ b/src/modules/uORB/topics/omnidirectional_flow.h
@@ -46,6 +46,7 @@
 
 /**
  * @addtogroup topics
+ * @{
  */
 
 /**
diff --git a/src/modules/uORB/topics/parameter_update.h b/src/modules/uORB/topics/parameter_update.h
index 300e895c7d..68964deb0a 100644
--- a/src/modules/uORB/topics/parameter_update.h
+++ b/src/modules/uORB/topics/parameter_update.h
@@ -42,11 +42,20 @@
 #include <stdint.h>
 #include "../uORB.h"
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct parameter_update_s {
 	/** time at which the latest parameter was updated */
 	uint64_t	timestamp;
 };
 
+/**
+ * @}
+ */
+
 ORB_DECLARE(parameter_update);
 
 #endif
\ No newline at end of file
diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
index 9dd54df915..e69335b3d8 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -45,11 +45,6 @@
 #include <stdint.h>
 #include "../uORB.h"
 
-/**
- * @addtogroup topics
- * @{
- */
-
 /**
  * The number of RC channel inputs supported.
  * Current (Q1/2013) radios support up to 18 channels,
@@ -83,6 +78,11 @@ enum RC_CHANNELS_FUNCTION
   RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct rc_channels_s {
 
 	uint64_t timestamp;                 /**< In microseconds since boot time. */
diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h
index 9a76b51829..ad164555e2 100644
--- a/src/modules/uORB/topics/sensor_combined.h
+++ b/src/modules/uORB/topics/sensor_combined.h
@@ -46,17 +46,17 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
-/**
- * @addtogroup topics
- * @{
- */
-
 enum MAGNETOMETER_MODE {
 	MAGNETOMETER_MODE_NORMAL = 0,
 	MAGNETOMETER_MODE_POSITIVE_BIAS,
 	MAGNETOMETER_MODE_NEGATIVE_BIAS
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 /**
  * Sensor readings in raw and SI-unit form.
  *
diff --git a/src/modules/uORB/topics/subsystem_info.h b/src/modules/uORB/topics/subsystem_info.h
index c415e832e0..cfe0bf69e9 100644
--- a/src/modules/uORB/topics/subsystem_info.h
+++ b/src/modules/uORB/topics/subsystem_info.h
@@ -50,10 +50,6 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
-/**
- * @addtogroup topics
- */
-
 enum SUBSYSTEM_TYPE
 {
 	SUBSYSTEM_TYPE_GYRO = 1,
@@ -75,6 +71,10 @@ enum SUBSYSTEM_TYPE
 	SUBSYSTEM_TYPE_RANGEFINDER = 131072
 };
 
+/**
+ * @addtogroup topics
+ */
+
 /**
  * State of individual sub systems
  */
diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h
index f30852de5b..828fb31cc7 100644
--- a/src/modules/uORB/topics/telemetry_status.h
+++ b/src/modules/uORB/topics/telemetry_status.h
@@ -50,6 +50,11 @@ enum TELEMETRY_STATUS_RADIO_TYPE {
     TELEMETRY_STATUS_RADIO_TYPE_WIRE
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 struct telemetry_status_s {
 	uint64_t timestamp;
     enum TELEMETRY_STATUS_RADIO_TYPE type;  /**< type of the radio hardware     */
@@ -62,6 +67,10 @@ struct telemetry_status_s {
     uint8_t txbuf;              /**< how full the tx buffer is as a percentage  */
 };
 
+/**
+ * @}
+ */
+
 ORB_DECLARE(telemetry_status);
 
 #endif /* TOPIC_TELEMETRY_STATUS_H */
\ No newline at end of file
diff --git a/src/modules/uORB/topics/vehicle_attitude.h b/src/modules/uORB/topics/vehicle_attitude.h
index c31c81d0ce..4380a5ee77 100755
--- a/src/modules/uORB/topics/vehicle_attitude.h
+++ b/src/modules/uORB/topics/vehicle_attitude.h
@@ -48,6 +48,7 @@
 
 /**
  * @addtogroup topics
+ * @{
  */
 
 /**
diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h
index fac571659d..31ff014de9 100644
--- a/src/modules/uORB/topics/vehicle_command.h
+++ b/src/modules/uORB/topics/vehicle_command.h
@@ -45,11 +45,6 @@
 #include <stdint.h>
 #include "../uORB.h"
 
-/**
- * @addtogroup topics
- * @{
- */
-
 /**
  * Commands for commander app.
  *
@@ -110,6 +105,10 @@ enum VEHICLE_CMD_RESULT
 	VEHICLE_CMD_RESULT_ENUM_END=5, /*  | */
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
 
 struct vehicle_command_s
 {
diff --git a/src/modules/uORB/topics/vehicle_global_position_set_triplet.h b/src/modules/uORB/topics/vehicle_global_position_set_triplet.h
index 318abba89f..8516b263fc 100644
--- a/src/modules/uORB/topics/vehicle_global_position_set_triplet.h
+++ b/src/modules/uORB/topics/vehicle_global_position_set_triplet.h
@@ -60,8 +60,8 @@
  */
 struct vehicle_global_position_set_triplet_s
 {
-	bool previous_valid;
-	bool next_valid;
+	bool previous_valid;					/**< flag indicating previous position is valid */
+	bool next_valid;					/**< flag indicating next position is valid */
 
 	struct vehicle_global_position_setpoint_s previous;
 	struct vehicle_global_position_setpoint_s current;
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index c7c1048f60..94068a9acc 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -54,10 +54,6 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
-/**
- * @addtogroup topics @{
- */
-
 /* State Machine */
 typedef enum
 {
@@ -137,6 +133,10 @@ enum VEHICLE_BATTERY_WARNING {
     VEHICLE_BATTERY_WARNING_ALERT            /**< aleting of low voltage 2. stage */
 };
 
+/**
+ * @addtogroup topics
+ * @{
+ */
 
 /**
  * state machine / state of vehicle.