diff --git a/docs/build-apmrover2.sh b/docs/build-apmrover2.sh
index f687714925..0bb15a9537 100755
--- a/docs/build-apmrover2.sh
+++ b/docs/build-apmrover2.sh
@@ -3,7 +3,9 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 cd $DIR/..
 
-if [ ! -f docs/tags/libraries ]; 
+. docs/setup.sh
+
+if [ ! -f $DOCS_OUTPUT_BASE/tags/libraries ]; 
 then
 	echo "Must build libraries first"
 	exit 0
diff --git a/docs/build-arducopter.sh b/docs/build-arducopter.sh
index 15a7e5beb0..ef8dd9e13f 100755
--- a/docs/build-arducopter.sh
+++ b/docs/build-arducopter.sh
@@ -3,7 +3,9 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 cd $DIR/..
 
-if [ ! -f docs/tags/libraries ]; 
+. docs/setup.sh
+
+if [ ! -f $DOCS_OUTPUT_BASE/tags/libraries ]; 
 then
 	echo "Must build libraries first"
 	exit 0
diff --git a/docs/build-arduplane.sh b/docs/build-arduplane.sh
index 438e7d38e1..125d430288 100755
--- a/docs/build-arduplane.sh
+++ b/docs/build-arduplane.sh
@@ -3,7 +3,9 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 cd $DIR/..
 
-if [ ! -f docs/tags/libraries ]; 
+. docs/setup.sh
+
+if [ ! -f $DOCS_OUTPUT_BASE/tags/libraries ]; 
 then
 	echo "Must build libraries first"
 	exit 0
diff --git a/docs/build-libs.sh b/docs/build-libs.sh
index e2d106e400..0a843a5427 100755
--- a/docs/build-libs.sh
+++ b/docs/build-libs.sh
@@ -2,4 +2,7 @@
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 cd $DIR/..
+
+. docs/setup.sh
+
 doxygen docs/config/libraries
diff --git a/docs/config/apmrover2 b/docs/config/apmrover2
index 520e03d04b..71d85942ab 100644
--- a/docs/config/apmrover2
+++ b/docs/config/apmrover2
@@ -2,7 +2,7 @@
 
 PROJECT_NAME = "APM:Rover"
 INPUT = APMrover2/
-OUTPUT_DIRECTORY = docs/APMrover2
+OUTPUT_DIRECTORY = $(DOCS_OUTPUT_BASE)/APMrover2
 HTML_OUTPUT = .
-TAGFILES = docs/tags/libraries=../libraries
+TAGFILES = $(DOCS_OUTPUT_BASE)/tags/libraries=../libraries
 
diff --git a/docs/config/arducopter b/docs/config/arducopter
index 821e21c538..e6162753d2 100644
--- a/docs/config/arducopter
+++ b/docs/config/arducopter
@@ -2,7 +2,7 @@
 
 PROJECT_NAME = "APM:Copter"
 INPUT = ArduCopter/
-OUTPUT_DIRECTORY = docs/ArduCopter
+OUTPUT_DIRECTORY = $(DOCS_OUTPUT_BASE)/ArduCopter
 HTML_OUTPUT = .
-TAGFILES = docs/tags/libraries=../libraries
+TAGFILES = $(DOCS_OUTPUT_BASE)/tags/libraries=../libraries
 
diff --git a/docs/config/arduplane b/docs/config/arduplane
index e887dc6648..a96ddbbf30 100644
--- a/docs/config/arduplane
+++ b/docs/config/arduplane
@@ -2,7 +2,6 @@
 
 PROJECT_NAME = "APM:Plane"
 INPUT = ArduPlane/
-OUTPUT_DIRECTORY = docs/ArduPlane
+OUTPUT_DIRECTORY = $(DOCS_OUTPUT_BASE)/ArduPlane
 HTML_OUTPUT = .
-TAGFILES = docs/tags/libraries=../libraries
-
+TAGFILES = $(DOCS_OUTPUT_BASE)/tags/libraries=../libraries
diff --git a/docs/config/default b/docs/config/default
index 96c790ecc7..729422bdb7 100644
--- a/docs/config/default
+++ b/docs/config/default
@@ -615,7 +615,7 @@ CITE_BIB_FILES         =
 # The QUIET tag can be used to turn on/off the messages that are generated
 # by doxygen. Possible values are YES and NO. If left blank NO is used.
 
-QUIET                  = NO
+QUIET                  = YES
 
 # The WARNINGS tag can be used to turn on/off the warning messages that are
 # generated by doxygen. Possible values are YES and NO. If left blank
@@ -1830,7 +1830,7 @@ MSCFILE_DIRS           =
 # DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note
 # that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
 
-DOT_GRAPH_MAX_NODES    = 50
+DOT_GRAPH_MAX_NODES    = 200
 
 # The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the
 # graphs generated by dot. A depth value of 3 means that only nodes reachable
diff --git a/docs/config/libraries b/docs/config/libraries
index ff63cbdf32..e9d4da8d53 100644
--- a/docs/config/libraries
+++ b/docs/config/libraries
@@ -2,6 +2,6 @@
 
 PROJECT_NAME = "APM:Libraries"
 INPUT = libraries/
-OUTPUT_DIRECTORY = docs/libraries
+OUTPUT_DIRECTORY = $(DOCS_OUTPUT_BASE)/libraries
 HTML_OUTPUT = .
-GENERATE_TAGFILE = docs/tags/libraries
+GENERATE_TAGFILE = $(DOCS_OUTPUT_BASE)/tags/libraries
diff --git a/docs/setup.sh b/docs/setup.sh
new file mode 100644
index 0000000000..b7651c9902
--- /dev/null
+++ b/docs/setup.sh
@@ -0,0 +1,8 @@
+# setup output directory
+
+[ -z "$DOCS_OUTPUT_BASE" ] && {
+    export DOCS_OUTPUT_BASE=docs
+}
+
+mkdir -p $DOCS_OUTPUT_BASE/tags
+