diff --git a/Tools/px_process_airframes.py b/Tools/px_process_airframes.py
new file mode 100755
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+++ b/Tools/px_process_airframes.py
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+#!/usr/bin/env python
+############################################################################
+#
+#   Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# PX4 airframe config processor (main executable file)
+#
+# This tool scans the PX4 source code for declarations of airframes
+#
+# Currently supported formats are:
+#   * XML for the parametric UI generator
+#
+#
+
+from __future__ import print_function
+import sys
+import os
+import argparse
+from px4airframes import srcscanner, srcparser, xmlout
+
+def main():
+    # Parse command line arguments
+    parser = argparse.ArgumentParser(description="Process airframe documentation.")
+    parser.add_argument("-a", "--airframes-path",
+                        default="../ROMFS/px4fmu_common",
+                        metavar="PATH",
+                        help="path to source files to scan for parameters")
+    parser.add_argument("-x", "--xml",
+                        nargs='?',
+                        const="airframes.xml",
+                        metavar="FILENAME",
+                        help="Create XML file"
+                             " (default FILENAME: airframes.xml)")
+    parser.add_argument("-b", "--board",
+                         nargs='?',
+                         const="",
+                         metavar="BOARD",
+                         help="Board to create airframes xml for")
+    args = parser.parse_args()
+
+    # Check for valid command
+    if not (args.xml):
+        print("Error: You need to specify at least one output method!\n")
+        parser.print_usage()
+        sys.exit(1)
+
+    # Initialize source scanner and parser
+    scanner = srcscanner.SourceScanner()
+    parser = srcparser.SourceParser()
+
+    # Scan directories, and parse the files
+    print("Scanning source path " + args.airframes_path)
+    if not scanner.ScanDir(args.airframes_path, parser):
+        sys.exit(1)
+    # We can't validate yet
+    # if not parser.Validate():
+    #     sys.exit(1)
+    param_groups = parser.GetParamGroups()
+
+    # Output to XML file
+    if args.xml:
+        print("Creating XML file " + args.xml)
+        out = xmlout.XMLOutput(param_groups, args.board)
+        out.Save(args.xml)
+
+    print("All done!")
+
+
+if __name__ == "__main__":
+    main()