diff --git a/msg/tools/generate_msg_docs.py b/msg/tools/generate_msg_docs.py
index 3bbbef2fa3..ca97718091 100755
--- a/msg/tools/generate_msg_docs.py
+++ b/msg/tools/generate_msg_docs.py
@@ -27,9 +27,72 @@ if __name__ == "__main__":
 
     msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"..")
     msg_files = get_msgs_list(msg_path)
+    msg_files.sort()
+    
+    filelist_in_markdown=''
+    
     for msg_file in msg_files:
         msg_name = os.path.splitext(msg_file)[0]
         output_file = os.path.join(output_dir, msg_name+'.md')
         msg_filename = os.path.join(msg_path, msg_file)
         print("{:} -> {:}".format(msg_filename, output_file))
+        
+        #Format msg url
+        msg_url="[source file](https://github.com/PX4/PX4-Autopilot/blob/master/msg/%s)" % msg_file
+        
+        msg_description = ""
+        #Get msg description (first non-empty comment line from top of msg)
+        with open(msg_filename, 'r') as lineparser:
+            line = lineparser.readline()
+            while line.startswith('#'):
+                #print('DEBUG: line: %s' % line)
+                line=line.strip('# ')
+                line=line.rstrip('\n')
+                if line:
+                    msg_description=line
+                    print('msg_description: Z%sZ' % msg_description)
+                    break
+                line = lineparser.readline()
+
+        msg_contents = ""
+        #Get msg contents (read the file)
+        with open(msg_filename, 'r') as source_file:
+            msg_contents = source_file.read()
+          
+        #Format markdown using msg name, comment, url, contents.  
+        markdown_output="""# %s (UORB message)
+        
+%s
+
+%s
+
+```c
+%s
+```
+""" % (msg_name, msg_description, msg_url, msg_contents)
+
+        
+        with open(output_file, 'w') as content_file:
+            content_file.write(markdown_output)
+            
+        readme_markdown_file_link='- [%s](%s.md)' % (msg_name,msg_name)
+        if msg_description:
+            readme_markdown_file_link+=" — %s" % msg_description
+        filelist_in_markdown+=readme_markdown_file_link+"\n"
+        
+    # Write out the README.md file
+    readme_text="""# PX4 UORB Messages
+
+:::note
+This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/master/msg/tools/generate_msg_docs.py) from the source code.
+:::
+    
+This topic lists the UORB messages available in PX4 (some of which may be may be shared by the [PX4-ROS 2 Bridge](../ros/ros2_comm.md)).
+Graphs showing how these are used [can be found here](../middleware/uorb_graph.md).
+    
+%s
+    """ % (filelist_in_markdown)
+    readme_file = os.path.join(output_dir, 'README.md')
+    with open(readme_file, 'w') as content_file:
+            content_file.write(readme_text)