diff --git a/Tools/px4moduledoc/markdownout.py b/Tools/px4moduledoc/markdownout.py
index 647a3dd74f..1efe806f08 100644
--- a/Tools/px4moduledoc/markdownout.py
+++ b/Tools/px4moduledoc/markdownout.py
@@ -5,26 +5,34 @@ import os
 class MarkdownTablesOutput():
     def __init__(self, module_groups):
 
+        self._outputs = {}
+
         result = """
 # Modules & Commands Reference
-Documentation of PX4 modules, drivers and commands. It describes the provided
-functionality, high-level implementation overview and how to use the
-command-line interface.
+The following pages document the PX4 modules, drivers and commands. They
+describe the provided functionality, high-level implementation overview and how
+to use the command-line interface.
 
-> **Note** **This list is auto-generated from the source code** and contains the
+> **Note** **This is auto-generated from the source code** and contains the
 > most recent modules documentation.
 
-This is not a complete list and NuttX provides some additional commands
+It is not a complete list and NuttX provides some additional commands
 as well (such as `free`). Use `help` on the console to get a list of all
 available commands, and in most cases `command help` will print the usage.
 
 Since this is generated from source, errors must be reported/fixed
 in the [Firmware](https://github.com/PX4/Firmware) repository.
 
+## Categories
 """
+        for category in sorted(module_groups):
+            result += "- [%s](modules_%s.md)\n" % (category.capitalize(), category)
+
+        self._outputs['main'] = result
+
 
         for category in sorted(module_groups):
-            result += "# Category: %s\n" % category.capitalize()
+            result = "# Modules Reference: %s\n" % category.capitalize()
             module_list = module_groups[category]
             for module in module_list:
                 result += "## %s\n" % module.name()
@@ -36,8 +44,10 @@ in the [Firmware](https://github.com/PX4/Firmware) repository.
                 if len(usage_string) > 0:
                     result += "### Usage\n```\n%s\n```\n" % usage_string
 
-        self.output = result
+            self._outputs[category] = result
 
     def Save(self, dirname):
-        with codecs.open(os.path.join(dirname, 'modules.md'), 'w', 'utf-8') as f:
-            f.write(self.output)
+        for output_name in self._outputs:
+            output = self._outputs[output_name]
+            with codecs.open(os.path.join(dirname, 'modules_'+output_name+'.md'), 'w', 'utf-8') as f:
+                f.write(output)
diff --git a/Tools/px_process_module_doc.py b/Tools/px_process_module_doc.py
index 43467624d5..2272fc0c00 100755
--- a/Tools/px_process_module_doc.py
+++ b/Tools/px_process_module_doc.py
@@ -93,6 +93,9 @@ def main():
 
     # Output to Markdown/HTML tables
     if args.markdown:
+        if (args.verbose): print("Creating markdown output to directory " + str(args.markdown))
+        if not os.path.exists(args.markdown):
+            os.makedirs(args.markdown)
         out = markdownout.MarkdownTablesOutput(module_groups)
         out.Save(args.markdown)