diff --git a/Tools/px4airframes/markdownout.py b/Tools/px4airframes/markdownout.py
new file mode 100644
index 0000000000..71fa3a1f16
--- /dev/null
+++ b/Tools/px4airframes/markdownout.py
@@ -0,0 +1,71 @@
+from xml.sax.saxutils import escape
+import codecs
+
+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")
+
+        # TODO: describe meaning of green + blue color...
+
+        for group in groups:
+
+            result += '## %s\n\n' % group.GetName()
+
+            # Display an image of the frame
+            image_name = group.GetImageName()
+            if image_name != 'AirframeUnknown':
+                result += '<img src="images/airframes/types/%s.svg" width="25%%" style="max-height: 150px;"/>\n' % (image_name)
+
+            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 += ' </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:
+                    #print("generating: {0} {1}".format(param.GetName(), excluded))
+                    name = param.GetName()
+                    airframe_id = param.GetId()
+                    airframe_id_entry = '<p><code>SYS_AUTOSTART</code> = %s</p>' % (airframe_id)
+                    maintainer = param.GetMaintainer()
+                    maintainer_entry = ''
+                    if maintainer != '':
+                        maintainer_entry = '<p>Maintainer: %s</p>' % (maintainer)
+                    url = param.GetFieldValue('url')
+                    name_entry = name
+                    if url != '':
+                        name_entry = '<a href="%s">%s</a>' % (url, name)
+                    outputs = '<ul>'
+                    for code in param.GetOutputCodes():
+                        value = param.GetOutputValue(code)
+                        valstrs = value.split(";")
+                        output_name = code
+                        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
+                            #print(output_name,value, attribstrs[0].strip(),attribstrs[1].strip())
+                    outputs += '</ul>'
+
+                    result += '<tr>\n <td style="vertical-align: top;">%s</td>\n <td style="vertical-align: top;">%s%s</td>\n <td style="vertical-align: top;">%s</td>\n</tr>\n' % (name_entry, maintainer_entry, airframe_id_entry, outputs)
+
+
+            #Close the table.
+            result += '</tbody></table>\n\n'
+
+        self.output = result
+
+    def Save(self, filename):
+        with codecs.open(filename, 'w', 'utf-8') as f:
+            f.write(self.output)
diff --git a/Tools/px4airframes/srcparser.py b/Tools/px4airframes/srcparser.py
index e9c8343662..e3041af6ba 100644
--- a/Tools/px4airframes/srcparser.py
+++ b/Tools/px4airframes/srcparser.py
@@ -102,6 +102,14 @@ class Parameter(object):
         "min": 5,
         "max": 4,
         "unit": 3,
+        "AUX1": -10,
+        "AUX2": -10,
+        "AUX3": -10,
+        "AUX4": -10,
+        "AUX5": -10,
+        "AUX6": -10,
+        "AUX7": -10,
+        "AUX8": -10,
         # all others == 0 (sorted alphabetically)
     }
 
diff --git a/Tools/px_process_airframes.py b/Tools/px_process_airframes.py
index 05f9c85f2a..6b8e6f25d4 100755
--- a/Tools/px_process_airframes.py
+++ b/Tools/px_process_airframes.py
@@ -46,7 +46,7 @@ from __future__ import print_function
 import sys
 import os
 import argparse
-from px4airframes import srcscanner, srcparser, xmlout, rcout
+from px4airframes import srcscanner, srcparser, xmlout, rcout, markdownout
 
 def main():
     # Parse command line arguments
@@ -61,6 +61,12 @@ def main():
                         metavar="FILENAME",
                         help="Create XML file"
                              " (default FILENAME: airframes.xml)")
+    parser.add_argument("-m", "--markdown",
+                        nargs='?',
+                        const="airframes.md",
+                        metavar="FILENAME",
+                        help="Create Markdown file"
+                             " (default FILENAME: airframes.md)")
     parser.add_argument("-s", "--start-script",
                         nargs='?',
                         const="rc.autostart",
@@ -75,7 +81,7 @@ def main():
     args = parser.parse_args()
 
     # Check for valid command
-    if not (args.xml) and not (args.start_script):
+    if not (args.xml) and not (args.start_script) and not args.markdown:
         print("Error: You need to specify at least one output method!\n")
         parser.print_usage()
         sys.exit(1)
@@ -99,6 +105,12 @@ def main():
         out = xmlout.XMLOutput(param_groups, args.board)
         out.Save(args.xml)
 
+    # Output to markdown file
+    if args.markdown:
+        if args.verbose: print("Creating markdown file " + args.markdown)
+        out = markdownout.MarkdownTablesOutput(param_groups, args.board)
+        out.Save(args.markdown)
+
     if args.start_script:
         if args.verbose: print("Creating start script " + args.start_script)
         out = rcout.RCOutput(param_groups, args.board)