diff --git a/.github/workflows/doxygen.yml b/.github/workflows/doxygen.yml
index 3b211a4..56f453b 100644
--- a/.github/workflows/doxygen.yml
+++ b/.github/workflows/doxygen.yml
@@ -14,6 +14,7 @@ jobs:
       - uses: DenverCoder1/doxygen-github-pages-action@v2.0.0
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
+          doxygen_version: 1.16.1
           branch: gh-pages
           folder: build/doxygen
           config_file: Doxyfile
diff --git a/README.md b/README.md
index c69bf52..4ea0868 100644
--- a/README.md
+++ b/README.md
@@ -2,6 +2,8 @@
 
 Avionics is a modular, Arduino-core based system powering the flight computers of Clemson University Rocket Engineering. Designed for high reliability and efficiency, it supports real-time state estimation, data logging, and robust communication across multiple rockets.
 
+**Documentation Website: 🚀[Avionics Docs](https://curocketengineering.github.io/Avionics/)🚀**
+
 ## Table of Contents
 
 - [Introduction](#introduction)
diff --git a/include/data_handling/DataSaverSPI.h b/include/data_handling/DataSaverSPI.h
index ea3ec4e..b3a2f33 100644
--- a/include/data_handling/DataSaverSPI.h
+++ b/include/data_handling/DataSaverSPI.h
@@ -45,6 +45,7 @@ class DataSaverSPI : public IDataSaver {
      * @brief Construct a new DataSaverSPI object
      * 
      * @param timestampInterval_ms  Interval in ms at which timestamps are stored
+     * @param flash                 Pointer to an initialized Adafruit_SPIFlash object
      *
      * @note timestampInterval_ms must be < 65535 (about 1 minute)
      */
@@ -57,7 +58,7 @@ class DataSaverSPI : public IDataSaver {
      * timestamp by more than timestampInterval_ms, the new timestamp is also
      * written to flash. Otherwise, the timestamp is omitted (to save space).
      * 
-     * @param dp   The data point to save
+     * @param dataPoint The data point to save
      * @param name An 8-bit “identifier” for the data point (could be a sensor ID)
      * @return int 0 on success; non-zero on error
      */
diff --git a/include/state_estimation/LaunchDetector.h b/include/state_estimation/LaunchDetector.h
index 4203eb5..40ce71e 100644
--- a/include/state_estimation/LaunchDetector.h
+++ b/include/state_estimation/LaunchDetector.h
@@ -64,9 +64,7 @@ class LaunchDetector
 
     /**
      * Updates the detector with new acceleration data
-     * @param xac: The x acceleration data point in ms^2
-     * @param yac: The y acceleration data point in ms^2
-     * @param zac: The z acceleration data point in ms^2
+     * @param accel: The newest acceleration data (triplet of x, y, and z acceleration data points)
      * @return: False if the data is ignored, true if the data is accepted
      */
     int update(AccelerationTriplet accel);
diff --git a/include/state_estimation/VerticalVelocityEstimator.h b/include/state_estimation/VerticalVelocityEstimator.h
index b1afd90..69fe4ce 100644
--- a/include/state_estimation/VerticalVelocityEstimator.h
+++ b/include/state_estimation/VerticalVelocityEstimator.h
@@ -38,17 +38,19 @@ class VerticalVelocityEstimator {
 public:
     /**
      * Constructor.
-     * @param accelNoiseVariance    Process noise variance due to unknown acceleration 
-     *                             changes (e.g. (0.5 m/s²)² = 0.25).
-     * @param altimeterNoiseVariance Measurement noise variance of the altimeter 
-     *                             (e.g. 1.0 for 1m²).
+     * @param noise Struct containing process and measurement noise variances.
+     *             - `accelNoiseVar`: process noise variance due to unknown
+     *               acceleration changes (e.g. (0.5 m/s²)² = 0.25).
+     *             - `altimeterNoiseVar`: measurement noise variance of the
+     *               altimeter (e.g. 1.0 for 1m²).
      */
     VerticalVelocityEstimator(NoiseVariances noise = {1.0f, 0.1f});
 
     /**
      * Initialize the filter with an initial altitude and timestamp.
-     * @param initialAltitude  in meters.
-     * @param initialTimestamp in milliseconds.
+     * @param initialState Struct containing:
+     *                    - `initialAltitude`  in meters.
+     *                    - `initialTimestamp` in milliseconds.
      */
     void init(InitialState initialState);
 
@@ -58,9 +60,7 @@ class VerticalVelocityEstimator {
      * The three acceleration DataPoints correspond to x, y, and z (vertical) axes.
      * The altimeter DataPoint contains the altitude measurement.
      *
-     * @param accelX    Accelerometer reading for the x-axis.
-     * @param accelY    Accelerometer reading for the y-axis.
-     * @param accelZ    Accelerometer reading for the z-axis (vertical).
+     * @param accel     Accelerometer readings for x, y, and z (vertical) axes.
      * @param altimeter Altimeter reading.
      */
     void update(const AccelerationTriplet& accel,