diff --git a/docs/Doxyfile b/docs/Doxyfile
index b7eb437..c2a4942 100644
--- a/docs/Doxyfile
+++ b/docs/Doxyfile
@@ -435,7 +435,7 @@ LOOKUP_CACHE_SIZE      = 0
 # normally produced when WARNINGS is set to YES.
 # The default value is: NO.
 
-EXTRACT_ALL            = NO
+EXTRACT_ALL            = YES
 
 # If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
 # be included in the documentation.
@@ -453,7 +453,7 @@ EXTRACT_PACKAGE        = NO
 # included in the documentation.
 # The default value is: NO.
 
-EXTRACT_STATIC         = NO
+EXTRACT_STATIC         = YES
 
 # If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
 # locally in source files will be included in the documentation. If set to NO,
@@ -820,45 +820,11 @@ FILE_PATTERNS          = *.c \
                          *.cxx \
                          *.cpp \
                          *.c++ \
-                         *.java \
-                         *.ii \
-                         *.ixx \
-                         *.ipp \
-                         *.i++ \
-                         *.inl \
-                         *.idl \
-                         *.ddl \
-                         *.odl \
                          *.h \
                          *.hh \
                          *.hxx \
                          *.hpp \
                          *.h++ \
-                         *.cs \
-                         *.d \
-                         *.php \
-                         *.php4 \
-                         *.php5 \
-                         *.phtml \
-                         *.inc \
-                         *.m \
-                         *.markdown \
-                         *.md \
-                         *.mm \
-                         *.dox \
-                         *.py \
-                         *.pyw \
-                         *.f90 \
-                         *.f95 \
-                         *.f03 \
-                         *.f08 \
-                         *.f \
-                         *.for \
-                         *.tcl \
-                         *.vhd \
-                         *.vhdl \
-                         *.ucf \
-                         *.qsf
 
 # The RECURSIVE tag can be used to specify whether or not subdirectories should
 # be searched for input files as well.
@@ -873,7 +839,7 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                = ../build/ ../cmake-debug-build/ ../extern/ ../test/
+EXCLUDE                = ../build/* ../cmake-build-debug/* ../extern/* ../test/* ../docs/*
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded
@@ -889,7 +855,7 @@ EXCLUDE_SYMLINKS       = NO
 # Note that the wildcards are matched against the file with absolute path, so to
 # exclude all test directories for example use the pattern */test/*
 
-EXCLUDE_PATTERNS       =
+EXCLUDE_PATTERNS       = */build/* */cmake-build-debug/* */extern/* */test/* */docs/*
 
 # The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
 # (namespaces, classes, functions, etc.) that should be excluded from the
diff --git a/include/wrmath/filter/madgwick.h b/include/wrmath/filter/madgwick.h
index 8d6bdc2..dac9c07 100644
--- a/include/wrmath/filter/madgwick.h
+++ b/include/wrmath/filter/madgwick.h
@@ -1,3 +1,7 @@
+/// \file madgwick.h
+/// \brief Implementation of a Madgwick filter.
+///
+/// See [the paper](http://x-io.co.uk/res/doc/madgwick_internal_report.pdf).
 #ifndef __WRMATH_FILTER_MADGWICK_H
 #define __WRMATH_FILTER_MADGWICK_H
 
@@ -7,6 +11,7 @@
 
 
 namespace wr {
+/// filter contains filtering algorithms.
 namespace filter {
 
 
@@ -75,7 +80,7 @@ public:
 	/// Update the sensor frame with a gyroscope reading.
 	///
 	/// \param gyro A three-dimensional vector containing gyro readings
-	///             as \f$<\omega_x, \omega_y, \omega_z\>f$.
+	///             as \f$<\omega_{x}, \omega_y, \omega_z>\f$.
 	/// \param delta The time step between readings. It must not be zero.
 	void
 	updateAngularOrientation(const geom::Vector<T, 3> &gyro, T delta)
diff --git a/include/wrmath/math.h b/include/wrmath/math.h
index 84bb9a7..e69b9e9 100644
--- a/include/wrmath/math.h
+++ b/include/wrmath/math.h
@@ -7,6 +7,7 @@
 
 
 namespace wr {
+/// math contains utility math functions.
 namespace math {
 
 
diff --git a/src/madgwick.cc b/src/madgwick.cc
deleted file mode 100644
index 4967861..0000000
--- a/src/madgwick.cc
+++ /dev/null
@@ -1 +0,0 @@
-#include "wrmath/filter/madgwick.h"