diff --git a/src/modules/systemlib/param/CMakeLists.txt b/src/modules/systemlib/param/CMakeLists.txt
index f3e8306281..3abfd318bc 100644
--- a/src/modules/systemlib/param/CMakeLists.txt
+++ b/src/modules/systemlib/param/CMakeLists.txt
@@ -78,7 +78,7 @@ add_custom_command(OUTPUT ${parameters_xml}
 		--inject-xml ${CMAKE_CURRENT_SOURCE_DIR}/parameters_injected.xml
 		--overrides ${PARAM_DEFAULT_OVERRIDES}
 		#--verbose
-	DEPENDS ${param_src_files} px_process_params.py px4params/srcparser.py px4params/srcscanner.py parameters_injected.xml
+	DEPENDS ${param_src_files} px_process_params.py px4params/srcparser.py px4params/srcscanner.py px4params/xmlout.py parameters_injected.xml
 	COMMENT "Generating parameters.xml"
 )
 add_custom_target(parameters_xml DEPENDS ${parameters_xml})
diff --git a/src/modules/systemlib/param/px4params/srcparser.py b/src/modules/systemlib/param/px4params/srcparser.py
index 8d990fed6e..03abb0a801 100644
--- a/src/modules/systemlib/param/px4params/srcparser.py
+++ b/src/modules/systemlib/param/px4params/srcparser.py
@@ -58,6 +58,7 @@ class Parameter(object):
         self.type = type
         self.default = default
         self.volatile = "false"
+        self.category = ""
 
     def GetName(self):
         return self.name
@@ -68,6 +69,9 @@ class Parameter(object):
     def GetDefault(self):
         return self.default
 
+    def GetCategory(self):
+        return self.category.title()
+
     def GetVolatile(self):
         return self.volatile
 
@@ -95,6 +99,12 @@ class Parameter(object):
         """
         self.volatile = "true"
 
+    def SetCategory(self, category):
+        """
+        Set param category
+        """
+        self.category = category
+
     def GetFieldCodes(self):
         """
         Return list of existing field codes in convenient order
@@ -165,7 +175,7 @@ class SourceParser(object):
     re_remove_dots = re.compile(r'\.+$')
     re_remove_carriage_return = re.compile('\n+')
 
-    valid_tags = set(["group", "board", "min", "max", "unit", "decimal", "increment", "reboot_required", "value", "boolean", "bit", "level", "volatile"])
+    valid_tags = set(["group", "board", "min", "max", "unit", "decimal", "increment", "reboot_required", "value", "boolean", "bit", "category", "volatile"])
 
     # Order of parameter groups
     priority = {
@@ -294,6 +304,8 @@ class SourceParser(object):
                                 group = tags[tag]
                             elif tag == "volatile":
                                 param.SetVolatile()
+                            elif tag == "category":
+                                param.SetCategory(tags[tag])
                             elif tag not in self.valid_tags:
                                 sys.stderr.write("Skipping invalid documentation tag: '%s'\n" % tag)
                                 return False
diff --git a/src/modules/systemlib/param/px4params/xmlout.py b/src/modules/systemlib/param/px4params/xmlout.py
index a7bce3293e..ef4a8e6c29 100644
--- a/src/modules/systemlib/param/px4params/xmlout.py
+++ b/src/modules/systemlib/param/px4params/xmlout.py
@@ -41,7 +41,10 @@ class XMLOutput():
                     xml_param.attrib["name"] = param.GetName()
                     xml_param.attrib["default"] = param.GetDefault()
                     xml_param.attrib["type"] = param.GetType()
-                    xml_param.attrib["volatile"] = param.GetVolatile()
+                    if (param.GetVolatile() == "true"):
+                        xml_param.attrib["volatile"] = param.GetVolatile()
+                    if (param.GetCategory()):
+                        xml_param.attrib["category"] = param.GetCategory()
                     last_param_name = param.GetName()
                     for code in param.GetFieldCodes():
                         value = param.GetFieldValue(code)