diff --git a/upstream_utils/drake-fix-doxygen.patch b/upstream_utils/drake-fix-doxygen.patch
new file mode 100644
index 0000000..8a48333
--- /dev/null
+++ b/upstream_utils/drake-fix-doxygen.patch
@@ -0,0 +1,130 @@
+diff --git a/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h b/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
+index 5d7a316f3..dc08be95e 100644
+--- a/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
++++ b/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
+@@ -9,18 +9,19 @@
+ namespace drake {
+ namespace math {
+ 
+-/// Computes the unique stabilizing solution X to the discrete-time algebraic
+-/// Riccati equation:
+-///
+-/// AᵀXA − X − AᵀXB(BᵀXB + R)⁻¹BᵀXA + Q = 0
+-///
+-/// @throws std::exception if Q is not positive semi-definite.
+-/// @throws std::exception if R is not positive definite.
+-///
+-/// Based on the Schur Vector approach outlined in this paper:
+-/// "On the Numerical Solution of the Discrete-Time Algebraic Riccati Equation"
+-/// by Thrasyvoulos Pappas, Alan J. Laub, and Nils R. Sandell
+-///
++/**
++Computes the unique stabilizing solution X to the discrete-time algebraic
++Riccati equation:
++
++AᵀXA − X − AᵀXB(BᵀXB + R)⁻¹BᵀXA + Q = 0
++
++@throws std::exception if Q is not positive semi-definite.
++@throws std::exception if R is not positive definite.
++
++Based on the Schur Vector approach outlined in this paper:
++"On the Numerical Solution of the Discrete-Time Algebraic Riccati Equation"
++by Thrasyvoulos Pappas, Alan J. Laub, and Nils R. Sandell
++*/
+ WPILIB_DLLEXPORT
+ Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
+     const Eigen::Ref<const Eigen::MatrixXd>& A,
+@@ -28,49 +29,50 @@ Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
+     const Eigen::Ref<const Eigen::MatrixXd>& Q,
+     const Eigen::Ref<const Eigen::MatrixXd>& R);
+ 
+-/// Computes the unique stabilizing solution X to the discrete-time algebraic
+-/// Riccati equation:
+-///
+-/// AᵀXA − X − (AᵀXB + N)(BᵀXB + R)⁻¹(BᵀXA + Nᵀ) + Q = 0
+-///
+-/// This is equivalent to solving the original DARE:
+-///
+-/// A₂ᵀXA₂ − X − A₂ᵀXB(BᵀXB + R)⁻¹BᵀXA₂ + Q₂ = 0
+-///
+-/// where A₂ and Q₂ are a change of variables:
+-///
+-/// A₂ = A − BR⁻¹Nᵀ and Q₂ = Q − NR⁻¹Nᵀ
+-///
+-/// This overload of the DARE is useful for finding the control law uₖ that
+-/// minimizes the following cost function subject to xₖ₊₁ = Axₖ + Buₖ.
+-///
+-/// @verbatim
+-///     ∞ [xₖ]ᵀ[Q  N][xₖ]
+-/// J = Σ [uₖ] [Nᵀ R][uₖ] ΔT
+-///    k=0
+-/// @endverbatim
+-///
+-/// This is a more general form of the following. The linear-quadratic regulator
+-/// is the feedback control law uₖ that minimizes the following cost function
+-/// subject to xₖ₊₁ = Axₖ + Buₖ:
+-///
+-/// @verbatim
+-///     ∞
+-/// J = Σ (xₖᵀQxₖ + uₖᵀRuₖ) ΔT
+-///    k=0
+-/// @endverbatim
+-///
+-/// This can be refactored as:
+-///
+-/// @verbatim
+-///     ∞ [xₖ]ᵀ[Q 0][xₖ]
+-/// J = Σ [uₖ] [0 R][uₖ] ΔT
+-///    k=0
+-/// @endverbatim
+-///
+-/// @throws std::runtime_error if Q − NR⁻¹Nᵀ is not positive semi-definite.
+-/// @throws std::runtime_error if R is not positive definite.
+-///
++/**
++Computes the unique stabilizing solution X to the discrete-time algebraic
++Riccati equation:
++
++AᵀXA − X − (AᵀXB + N)(BᵀXB + R)⁻¹(BᵀXA + Nᵀ) + Q = 0
++
++This is equivalent to solving the original DARE:
++
++A₂ᵀXA₂ − X − A₂ᵀXB(BᵀXB + R)⁻¹BᵀXA₂ + Q₂ = 0
++
++where A₂ and Q₂ are a change of variables:
++
++A₂ = A − BR⁻¹Nᵀ and Q₂ = Q − NR⁻¹Nᵀ
++
++This overload of the DARE is useful for finding the control law uₖ that
++minimizes the following cost function subject to xₖ₊₁ = Axₖ + Buₖ.
++
++@verbatim
++    ∞ [xₖ]ᵀ[Q  N][xₖ]
++J = Σ [uₖ] [Nᵀ R][uₖ] ΔT
++   k=0
++@endverbatim
++
++This is a more general form of the following. The linear-quadratic regulator
++is the feedback control law uₖ that minimizes the following cost function
++subject to xₖ₊₁ = Axₖ + Buₖ:
++
++@verbatim
++    ∞
++J = Σ (xₖᵀQxₖ + uₖᵀRuₖ) ΔT
++   k=0
++@endverbatim
++
++This can be refactored as:
++
++@verbatim
++    ∞ [xₖ]ᵀ[Q 0][xₖ]
++J = Σ [uₖ] [0 R][uₖ] ΔT
++   k=0
++@endverbatim
++
++@throws std::runtime_error if Q − NR⁻¹Nᵀ is not positive semi-definite.
++@throws std::runtime_error if R is not positive definite.
++*/
+ WPILIB_DLLEXPORT
+ Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
+     const Eigen::Ref<const Eigen::MatrixXd>& A,