3 files changed, 32 insertions, 2 deletions
diff --git a/src/drivers/drv_px4flow.h b/src/drivers/drv_px4flow.h
index bef02d54e..76ec55c3e 100644
--- a/src/drivers/drv_px4flow.h
+++ b/src/drivers/drv_px4flow.h
@@ -47,9 +47,17 @@
 #define PX4FLOW_DEVICE_PATH	"/dev/px4flow"
 
 /**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
  * Optical flow in NED body frame in SI units.
  *
  * @see http://en.wikipedia.org/wiki/International_System_of_Units
+ *
+ * @warning If possible the usage of the raw flow and performing rotation-compensation
+ *		using the autopilot angular rate estimate is recommended.
  */
 struct px4flow_report {
 
@@ -57,14 +65,18 @@ struct px4flow_report {
 
 	int16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
 	int16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
-	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */
-	float flow_comp_y_m;		/**< speed over ground in meters, rotation-compensated */
+	float flow_comp_x_m;		/**< speed over ground in meters per second, rotation-compensated */
+	float flow_comp_y_m;		/**< speed over ground in meters per second, rotation-compensated */
 	float ground_distance_m;	/**< Altitude / distance to ground in meters */
 	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
 	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
 
 };
 
+/**
+ * @}
+ */
+
 /*
  * ObjDev tag for px4flow data.
  */
diff --git a/src/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h
index e45939b37..0f8362f58 100644
--- a/src/drivers/drv_range_finder.h
+++ b/src/drivers/drv_range_finder.h
@@ -51,6 +51,11 @@ enum RANGE_FINDER_TYPE {
 };
 
 /**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
  * range finder report structure.  Reads from the device must be in multiples of this
  * structure.
  */
@@ -64,6 +69,10 @@ struct range_finder_report {
 	uint8_t valid;				/**< 1 == within sensor range, 0 = outside sensor range */
 };
 
+/**
+ * @}
+ */
+
 /*
  * ObjDev tag for raw range finder data.
  */
diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h
index 20763e265..47fa8fa59 100644
--- a/src/drivers/drv_rc_input.h
+++ b/src/drivers/drv_rc_input.h
@@ -68,6 +68,11 @@
 #define RC_INPUT_RSSI_MAX	255
 
 /**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
  * Input signal type, value is a control position from zero to 100
  * percent.
  */
@@ -141,6 +146,10 @@ struct rc_input_values {
 	rc_input_t		values[RC_INPUT_MAX_CHANNELS];
 };
 
+/**
+ * @}
+ */
+
 /*
  * ObjDev tag for R/C inputs.
  */