diff --git a/Tools/px4airframes/markdownout.py b/Tools/px4airframes/markdownout.py
index 71fa3a1f16..7c8472a05e 100644
--- a/Tools/px4airframes/markdownout.py
+++ b/Tools/px4airframes/markdownout.py
@@ -5,6 +5,8 @@ class MarkdownTablesOutput():
     def __init__(self, groups, board):
         result = ("# Airframes Reference\n"
                   "> **Note** **This list is auto-generated from the source code** and contains the most recent airframes documentation.\n"
+                  "> \n"
+                  "> The **AUX** channels are only available on Pixhawk Boards (labeled with **AUX OUT**).\n"
                   "\n")
 
         # TODO: describe meaning of green + blue color...
@@ -15,25 +17,58 @@ class MarkdownTablesOutput():
 
             # Display an image of the frame
             image_name = group.GetImageName()
+            result += '<div>\n'
             if image_name != 'AirframeUnknown':
                 result += '<img src="images/airframes/types/%s.svg" width="25%%" style="max-height: 150px;"/>\n' % (image_name)
 
+            # check if all outputs are equal for the group: if so, show them
+            # only once
+            outputs_prev = ['', ''] # split into MAINx and others (AUXx)
+            outputs_match = [True, True]
+            for param in group.GetParams():
+                if not self.IsExcluded(param, board):
+                    outputs_current = ['', '']
+                    for output_name in param.GetOutputCodes():
+                        value = param.GetOutputValue(output_name)
+                        if output_name.lower().startswith('main'):
+                            idx = 0
+                        else:
+                            idx = 1
+                        outputs_current[idx] += '<li><b>%s</b>: %s</li>' % (output_name, value)
+                    for i in range(2):
+                        if len(outputs_current[i]) != 0:
+                            if outputs_prev[i] == '':
+                                outputs_prev[i] = outputs_current[i]
+                            elif outputs_current[i] != outputs_prev[i]:
+                                outputs_match[i] = False
+
+            for i in range(2):
+                if len(outputs_prev[i]) == 0:
+                    outputs_match[i] = False
+                if not outputs_match[i]:
+                    outputs_prev[i] = ''
+
+            if outputs_match[0] or outputs_match[1]:
+                result += '<table style="float: right; width: 70%; font-size:1.5rem;">\n'
+                result += ' <colgroup><col></colgroup>\n'
+                result += ' <thead>\n'
+                result += '   <tr><th>Common Outputs</th></tr>\n'
+                result += ' </thead>\n'
+                result += '<tbody>\n'
+                result += '<tr>\n <td style="vertical-align: top;"><ul>%s%s</ul></td>\n</tr>\n' % (outputs_prev[0], outputs_prev[1])
+                result += '</tbody></table>\n'
+
+            result += '</div>\n\n'
+
             result += '<table style="width: 100%; table-layout:fixed; font-size:1.5rem;">\n'
             result += ' <colgroup><col style="width: 30%"><col style="width: 30%"><col style="width: 40%"></colgroup>\n'
             result += ' <thead>\n'
-            result += '   <tr><th>Name</th><th></th><th>Outputs</th></tr>\n'
+            result += '   <tr><th>Name</th><th></th><th>Specific Outputs</th></tr>\n'
             result += ' </thead>\n'
             result += '<tbody>\n'
 
             for param in group.GetParams():
-
-                # check if there is an exclude tag for this airframe
-                excluded = False
-                for code in param.GetArchCodes():
-                    if "CONFIG_ARCH_BOARD_{0}".format(code) == board and param.GetArchValue(code) == "exclude":
-                        excluded = True
-
-                if not excluded:
+                if not self.IsExcluded(param, board):
                     #print("generating: {0} {1}".format(param.GetName(), excluded))
                     name = param.GetName()
                     airframe_id = param.GetId()
@@ -47,11 +82,16 @@ class MarkdownTablesOutput():
                     if url != '':
                         name_entry = '<a href="%s">%s</a>' % (url, name)
                     outputs = '<ul>'
-                    for code in param.GetOutputCodes():
-                        value = param.GetOutputValue(code)
+                    for output_name in param.GetOutputCodes():
+                        value = param.GetOutputValue(output_name)
                         valstrs = value.split(";")
-                        output_name = code
-                        outputs += '<li><b>%s</b>: %s</li>' % (output_name, value)
+                        if output_name.lower().startswith('main'):
+                            idx = 0
+                        else:
+                            idx = 1
+                        if not outputs_match[idx]:
+                            outputs += '<li><b>%s</b>: %s</li>' % (output_name, value)
+
                         for attrib in valstrs[1:]:
                             attribstrs = attrib.split(":")
                             # some airframes provide more info, like angle=60, direction=CCW
@@ -66,6 +106,12 @@ class MarkdownTablesOutput():
 
         self.output = result
 
+    def IsExcluded(self, param, board):
+        for code in param.GetArchCodes():
+            if "CONFIG_ARCH_BOARD_{0}".format(code) == board and param.GetArchValue(code) == "exclude":
+                return True
+        return False
+
     def Save(self, filename):
         with codecs.open(filename, 'w', 'utf-8') as f:
             f.write(self.output)