diff --git a/wpilibc/Athena/src/ADXL345_I2C.cpp b/wpilibc/Athena/src/ADXL345_I2C.cpp
index ec87376ef8..8de9e3b051 100644
--- a/wpilibc/Athena/src/ADXL345_I2C.cpp
+++ b/wpilibc/Athena/src/ADXL345_I2C.cpp
@@ -34,18 +34,14 @@ ADXL345_I2C::ADXL345_I2C(Port port, Range range, int deviceAddress) : I2C(port,
   LiveWindow::GetInstance()->AddSensor("ADXL345_I2C", port, this);
 }
 
-/** {@inheritdoc} */
 void ADXL345_I2C::SetRange(Range range) {
   Write(kDataFormatRegister, kDataFormat_FullRes | (uint8_t)range);
 }
 
-/** {@inheritdoc} */
 double ADXL345_I2C::GetX() { return GetAcceleration(kAxis_X); }
 
-/** {@inheritdoc} */
 double ADXL345_I2C::GetY() { return GetAcceleration(kAxis_Y); }
 
-/** {@inheritdoc} */
 double ADXL345_I2C::GetZ() { return GetAcceleration(kAxis_Z); }
 
 /**
diff --git a/wpilibc/Athena/src/ADXL345_SPI.cpp b/wpilibc/Athena/src/ADXL345_SPI.cpp
index 9341db1eb9..0f602bdc50 100644
--- a/wpilibc/Athena/src/ADXL345_SPI.cpp
+++ b/wpilibc/Athena/src/ADXL345_SPI.cpp
@@ -42,7 +42,6 @@ ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range) : SPI(port) {
   LiveWindow::GetInstance()->AddSensor("ADXL345_SPI", port, this);
 }
 
-/** {@inheritdoc} */
 void ADXL345_SPI::SetRange(Range range) {
   uint8_t commands[2];
 
@@ -52,13 +51,10 @@ void ADXL345_SPI::SetRange(Range range) {
   Transaction(commands, commands, 2);
 }
 
-/** {@inheritdoc} */
 double ADXL345_SPI::GetX() { return GetAcceleration(kAxis_X); }
 
-/** {@inheritdoc} */
 double ADXL345_SPI::GetY() { return GetAcceleration(kAxis_Y); }
 
-/** {@inheritdoc} */
 double ADXL345_SPI::GetZ() { return GetAcceleration(kAxis_Z); }
 
 /**
diff --git a/wpilibc/Athena/src/ADXL362.cpp b/wpilibc/Athena/src/ADXL362.cpp
index 889e326bb3..61e72cc63d 100644
--- a/wpilibc/Athena/src/ADXL362.cpp
+++ b/wpilibc/Athena/src/ADXL362.cpp
@@ -73,7 +73,6 @@ ADXL362::ADXL362(SPI::Port port, Range range) : m_spi(port) {
   LiveWindow::GetInstance()->AddSensor("ADXL362", port, this);
 }
 
-/** {@inheritdoc} */
 void ADXL362::SetRange(Range range) {
   if (m_gsPerLSB == 0.0) return;
 
@@ -99,13 +98,10 @@ void ADXL362::SetRange(Range range) {
   m_spi.Write(commands, 3);
 }
 
-/** {@inheritdoc} */
 double ADXL362::GetX() { return GetAcceleration(kAxis_X); }
 
-/** {@inheritdoc} */
 double ADXL362::GetY() { return GetAcceleration(kAxis_Y); }
 
-/** {@inheritdoc} */
 double ADXL362::GetZ() { return GetAcceleration(kAxis_Z); }
 
 /**
diff --git a/wpilibc/Athena/src/AnalogGyro.cpp b/wpilibc/Athena/src/AnalogGyro.cpp
index 2574792d35..ba60d3aeeb 100644
--- a/wpilibc/Athena/src/AnalogGyro.cpp
+++ b/wpilibc/Athena/src/AnalogGyro.cpp
@@ -135,9 +135,6 @@ void AnalogGyro::InitGyro() {
   LiveWindow::GetInstance()->AddSensor("AnalogGyro", m_analog->GetChannel(), this);
 }
 
-/**
- * {@inheritDoc}
- */
 void AnalogGyro::Calibrate() {
   if (StatusIsFatal()) return;
 
diff --git a/wpilibc/Athena/src/BuiltInAccelerometer.cpp b/wpilibc/Athena/src/BuiltInAccelerometer.cpp
index fb4ae04b86..86dd5e90c8 100644
--- a/wpilibc/Athena/src/BuiltInAccelerometer.cpp
+++ b/wpilibc/Athena/src/BuiltInAccelerometer.cpp
@@ -22,7 +22,6 @@ BuiltInAccelerometer::BuiltInAccelerometer(Range range) {
   LiveWindow::GetInstance()->AddSensor((std::string) "BuiltInAccel", 0, this);
 }
 
-/** {@inheritdoc} */
 void BuiltInAccelerometer::SetRange(Range range) {
   if (range == kRange_16G) {
     wpi_setWPIErrorWithContext(
diff --git a/wpilibc/athena.gradle b/wpilibc/athena.gradle
index 66a66a1076..a32ef0dc2f 100644
--- a/wpilibc/athena.gradle
+++ b/wpilibc/athena.gradle
@@ -130,6 +130,7 @@ if (checkDoxygen()) {
         source file("$halLocation/include")
         // template file('cpp.doxy')
         exclude 'nivision.h'
+        extension_mapping 'inc=C++'
         project_name 'WPILibC++'
         javadoc_autobrief true
         recursive true
diff --git a/wpilibc/shared/src/Filters/LinearDigitalFilter.cpp b/wpilibc/shared/src/Filters/LinearDigitalFilter.cpp
index e4a5cff0ec..e6e7474f8a 100644
--- a/wpilibc/shared/src/Filters/LinearDigitalFilter.cpp
+++ b/wpilibc/shared/src/Filters/LinearDigitalFilter.cpp
@@ -115,9 +115,6 @@ LinearDigitalFilter LinearDigitalFilter::MovingAverage(std::shared_ptr<PIDSource
   return LinearDigitalFilter(std::move(source), gains, {});
 }
 
-/**
- * {@inheritDoc}
- */
 double LinearDigitalFilter::Get() const {
   double retVal = 0.0;
 
@@ -132,9 +129,6 @@ double LinearDigitalFilter::Get() const {
   return retVal;
 }
 
-/**
- * {@inheritDoc}
- */
 void LinearDigitalFilter::Reset() {
   m_inputs.Reset();
   m_outputs.Reset();