diff --git a/.gitignore b/.gitignore
index 5ea8fce35a2..f70849d5ab3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,6 @@
# ignore html dir for github pages
/doc/generated
+/doc/manual/generated
*.so
*.[oa]
diff --git a/Doxyfile b/Doxyfile
index f8cc20f752e..12fb2c9aa50 100644
--- a/Doxyfile
+++ b/Doxyfile
@@ -682,14 +682,14 @@ EXCLUDE_SYMBOLS =
# directories that contain example code fragments that are included (see
# the \include command).
-EXAMPLE_PATH =
+EXAMPLE_PATH = conf/modules
# If the value of the EXAMPLE_PATH tag contains directories, you can use the
# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
# and *.h) to filter out the source-files in the directories. If left
# blank all files are included.
-EXAMPLE_PATTERNS =
+EXAMPLE_PATTERNS = *.xml
# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
# searched for input files to be used with the \include or \dontinclude
diff --git a/conf/modules/ahrs_chimu_spi.xml b/conf/modules/ahrs_chimu_spi.xml
index 835ddb5d550..4fc6b43bb5a 100644
--- a/conf/modules/ahrs_chimu_spi.xml
+++ b/conf/modules/ahrs_chimu_spi.xml
@@ -10,7 +10,6 @@
-
@@ -19,8 +18,9 @@
+
- ap.srcs += subsystems/ahrs.c
+ ap.CFLAGS += -DAHRS_TYPE_H=\"modules/ins/ins_module.h\"
diff --git a/conf/modules/ahrs_chimu_uart.xml b/conf/modules/ahrs_chimu_uart.xml
index 1780c695479..da0fd204b65 100644
--- a/conf/modules/ahrs_chimu_uart.xml
+++ b/conf/modules/ahrs_chimu_uart.xml
@@ -14,7 +14,6 @@
-
@@ -23,8 +22,9 @@
+
- ap.srcs += subsystems/ahrs.c
+ ap.CFLAGS += -DAHRS_TYPE_H=\"modules/ins/ins_module.h\"
diff --git a/conf/modules/gps_ubx_uart.xml b/conf/modules/gps_ubx_uart.xml
index 6804219f374..f6f7df1ba57 100644
--- a/conf/modules/gps_ubx_uart.xml
+++ b/conf/modules/gps_ubx_uart.xml
@@ -14,11 +14,16 @@
-
+
+ ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
+
-
+
+ sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
+ jsbsim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
+
diff --git a/conf/modules/gps_ubx_ucenter.xml b/conf/modules/gps_ubx_ucenter.xml
index 2b3fb90a88c..d03d8319873 100644
--- a/conf/modules/gps_ubx_ucenter.xml
+++ b/conf/modules/gps_ubx_ucenter.xml
@@ -1,24 +1,9 @@
-
-
- Automatically configure any Ublox GPS for paparazzi
+ Automatically configure any Ublox GPS for paparazzi.
-configures all the messages, and the rates
-automatic baudrate detection
@@ -35,7 +20,9 @@
-
+
+ ap.CFLAGS += -DGPS_UBX_UCENTER=\"modules/gps/gps_ubx_ucenter.c\"
+
diff --git a/conf/modules/sonar_maxbotix_booz.xml b/conf/modules/sonar_maxbotix_booz.xml
index 52013c3aa79..653789d22e4 100644
--- a/conf/modules/sonar_maxbotix_booz.xml
+++ b/conf/modules/sonar_maxbotix_booz.xml
@@ -1,12 +1,5 @@
-
-
@@ -17,7 +10,7 @@
diff --git a/conf/modules/xtend_rssi.xml b/conf/modules/xtend_rssi.xml
index c76f8358374..d5e532d9c22 100644
--- a/conf/modules/xtend_rssi.xml
+++ b/conf/modules/xtend_rssi.xml
@@ -1,19 +1,14 @@
-
+
- Digi Xtend RSSI PWM Module
+ Digi Xtend RSSI PWM Module.
For LPC21xx on the TWOG:
- 1 - INPUT CAPTURE CAP0.3 on P0.29 (TWOG ADC5, 5V to 3.3V voltage divider)
- 2 - INPUT CAPTURE CAP0.0 on P0.30 (TWOG ADC4, no voltage divider)
- Currently only available on LPC21xx arch
+ - INPUT CAPTURE CAP0.3 on P0.29 (TWOG ADC5, 5V to 3.3V voltage divider)
+ - INPUT CAPTURE CAP0.0 on P0.30 (TWOG ADC4, no voltage divider)
+
+ Currently only available on LPC21xx arch.
You must also load the module pwm_meas.xml
diff --git a/doc/manual/mainpage.dox b/doc/manual/mainpage.dox
index 45c4e60b259..cdac928f330 100644
--- a/doc/manual/mainpage.dox
+++ b/doc/manual/mainpage.dox
@@ -12,6 +12,8 @@ sections before starting work:
@ref primer provide introductory materials for new developers on various
specific topics.
+The @ref onboard_modules page list all available modules.
+
*/