diff --git a/src/lib/parameters/px4params/markdownout.py b/src/lib/parameters/px4params/markdownout.py
index 4c698fb511..d8ab163957 100644
--- a/src/lib/parameters/px4params/markdownout.py
+++ b/src/lib/parameters/px4params/markdownout.py
@@ -20,11 +20,24 @@ If a listed parameter is missing from the Firmware see: [Finding/Updating Parame
 """
                   )
 
+        # Define the groups and parameters that are specific to certain boards, to allow for a note to be added to the documentation.
+        BOARD_SPECIFIC_GROUPS = ['Actuator Outputs']
+        PARAM_IS_OUTPUT_TIMER = ['PWM_MAIN_TIM0', 'PWM_MAIN_TIM1', 'PWM_MAIN_TIM2', 'PWM_AUX_TIM0', 'PWM_AUX_TIM1', 'PWM_AUX_TIM2', 'PWM_AUX_TIM3']
+
         for group in groups:
             result += f'## {group.GetName()}\n\n'
 
+            group_is_board_specific = (group.GetName() in BOARD_SPECIFIC_GROUPS)
+
             for param in group.GetParams():
                 name = param.GetName()
+
+                # Apply note if either the group is board specific
+                apply_note_board_specific_group = group_is_board_specific
+
+                # Apply note if name is in list of timer group parameters
+                apply_timer_param_note = (name in PARAM_IS_OUTPUT_TIMER)
+
                 short_desc = param.GetFieldValue("short_desc") or ''
 
                 # Add fullstop to short_desc if not present
@@ -78,6 +91,10 @@ If a listed parameter is missing from the Firmware see: [Finding/Updating Parame
                     def_val='Disabled (0)'
 
                 result += f'### {name} (`{type}`)' + ' {#' + name + '}\n\n'
+                if apply_note_board_specific_group:
+                    result += f'<Badge type="warning" text="This parameter is only present on some boards." />\n\n'
+                if apply_timer_param_note:
+                    result += f'<Badge type="info" text="The exact output numbers where this timer applies are board-specific." />\n\n'
                 if short_desc:
                     result += f'{short_desc}\n\n'
                 if long_desc:
@@ -87,7 +104,7 @@ If a listed parameter is missing from the Firmware see: [Finding/Updating Parame
                 if bitmask_list:
                     result += bitmask_output
                 # Format the ranges as a table.
-                result += f"Reboot | minValue | maxValue | increment | default | unit\n--- | --- | --- | --- | --- | ---\n{'&check;' if reboot_required else '&nbsp;' } | {min_val} | {max_val} | {increment} | {def_val} | {unit} \n\n"
+                result += f"Reboot | minValue | maxValue | increment | default | unit\n--- | --- | --- | --- | --- | ---\n{'&check;' if reboot_required else '&nbsp;' } | {min_val} | {max_val} | {increment} | {def_val} | {unit} | \n\n"
 
         self.output = result