Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -r55a6adaf81175d25c1d9cc4c96d7dfda84eede16 -ra4236a98b2de7d007173862dfe6b114bce08f90f
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 55a6adaf81175d25c1d9cc4c96d7dfda84eede16)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision a4236a98b2de7d007173862dfe6b114bce08f90f)
@@ -34,20 +34,20 @@
 /// record for PI controller
 typedef struct {
     // -- PI's parameters --
-    F32 Kp;                         /// Proportional Value
-    F32 Ki;                         /// Integral Value
-    F32 uMax;                       /// Maximum control signal
-    F32 uMin;                       /// Minimum control signal
+    F32 Kp;                         ///< Proportional Value
+    F32 Ki;                         ///< Integral Value
+    F32 uMax;                       ///< Maximum control signal
+    F32 uMin;                       ///< Minimum control signal
     // -- PI's signals --
-    F32 referenceSignal;            /// reference signal
-    F32 measuredSignal;             /// measured signal
-    F32 errorSignal;                /// reference - measured signal
-    F32 errorSumBeforeWindUp;       /// error signal before windup correction
-    F32 errorSum;                   /// error integral after windup correction
-    F32 controlSignal;              /// actual control signal
+    F32 referenceSignal;            ///< reference signal
+    F32 measuredSignal;             ///< measured signal
+    F32 errorSignal;                ///< reference - measured signal
+    F32 errorSumBeforeWindUp;       ///< error signal before windup correction
+    F32 errorSum;                   ///< error integral after windup correction
+    F32 controlSignal;              ///< actual control signal
 } PI_CONTROLLER_T;
 
-#define SET_CONTROLLER( c, id )     ((c) = &piControllers[id])          /// macro to set a local controller pointer to a given piController
+#define SET_CONTROLLER( c, id )     ((c) = &piControllers[id])          ///< macro to set a local controller pointer to a given piController
 
 // ********** private data **********