diff --git a/Tools/px4moduledoc/markdownout.py b/Tools/px4moduledoc/markdownout.py
index 469e031a63..783ee620b0 100644
--- a/Tools/px4moduledoc/markdownout.py
+++ b/Tools/px4moduledoc/markdownout.py
@@ -40,25 +40,25 @@ The generated files will be written to the `modules` directory.
 ## Categories
 """
         for category in sorted(module_groups):
-            result += "- [%s](modules_%s.md)\n" % (category.capitalize(), category)
+            result += f"- [{category.capitalize()}](modules_{category}.md)\n"
 
         self._outputs['main'] = result
 
         for category in sorted(module_groups):
-            result = "# Modules Reference: %s\n" % category.capitalize()
+            result = f"# Modules Reference: {category.capitalize()}\n\n"
             subcategories = module_groups[category]
+
             if len(subcategories) > 1:
-                result += 'Subcategories:\n'
-                for subcategory in subcategories:
+                result += 'Subcategories:\n\n'
+                for subcategory in sorted(subcategories): 
                     if subcategory == '':
                         continue
                     subcategory_label = subcategory.replace('_', ' ').title()
                     subcategory_file_name = category+'_'+subcategory
-                    result += '- [%s](modules_%s.md)\n' % (subcategory_label, subcategory_file_name)
+                    result += f'- [{subcategory_label}](modules_{subcategory_file_name}.md)\n'
 
                     # add a sub-page for the subcategory
-                    result_subpage = '# Modules Reference: %s (%s)\n' % \
-                        (subcategory_label, category.capitalize())
+                    result_subpage = f'# Modules Reference: {subcategory_label} ({category.capitalize()})\n'
                     result_subpage += self._ProcessModules(subcategories[subcategory])
                     self._outputs[subcategory_file_name] = result_subpage
 
@@ -68,14 +68,14 @@ The generated files will be written to the `modules` directory.
     def _ProcessModules(self, module_list):
         result = ''
         for module in module_list:
-            result += "## %s\n" % module.name()
-            result += "Source: [%s](https://github.com/PX4/PX4-Autopilot/tree/main/src/%s)\n\n" % (module.scope(), module.scope())
+            result += f"\n## {module.name()}\n\n"
+            result += f"Source: [{module.scope()}](https://github.com/PX4/PX4-Autopilot/tree/main/src/{module.scope()})\n\n"
             doc = module.documentation()
             if len(doc) > 0:
-                result += "%s\n" % doc
+                result += f"{doc}\n"
             usage_string = module.usage_string()
             if len(usage_string) > 0:
-                result += '<a id="%s_usage"></a>\n### Usage\n```\n%s\n```\n' % (module.name(), usage_string)
+                result += f'### Usage {{#{module.name()}_usage}}\n\n```\n{usage_string}\n```\n'
         return result
 
     def Save(self, dirname):
diff --git a/Tools/px4moduledoc/srcparser.py b/Tools/px4moduledoc/srcparser.py
index 4937f67b7e..8b56e7bb08 100644
--- a/Tools/px4moduledoc/srcparser.py
+++ b/Tools/px4moduledoc/srcparser.py
@@ -12,11 +12,11 @@ class ModuleDocumentation(object):
     """
 
     # If you add categories or subcategories, they also need to be added to the
-    # TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md
+    # TOC in https://github.com/PX4/PX4-Autopilot/blob/main/docs/en/SUMMARY.md
     valid_categories = ['driver', 'estimator', 'controller', 'system',
                         'communication', 'command', 'template', 'simulation', 'autotune']
     valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']
+                           'magnetometer', 'baro', 'optical_flow', 'radio_control','rpm_sensor', 'transponder']
 
     max_line_length = 80 # wrap lines that are longer than this
 
diff --git a/src/drivers/rc/crsf_rc/CrsfRc.cpp b/src/drivers/rc/crsf_rc/CrsfRc.cpp
index 3ea6c0ac27..d7401f57ae 100644
--- a/src/drivers/rc/crsf_rc/CrsfRc.cpp
+++ b/src/drivers/rc/crsf_rc/CrsfRc.cpp
@@ -526,6 +526,7 @@ This module parses the CRSF RC uplink protocol and generates CRSF downlink telem
 )DESCR_STR");
 
 	PRINT_MODULE_USAGE_NAME("crsf_rc", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("radio_control");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "RC device", true);
 
diff --git a/src/drivers/rc/dsm_rc/DsmRc.cpp b/src/drivers/rc/dsm_rc/DsmRc.cpp
index f35bc4487f..b12fbfedcc 100644
--- a/src/drivers/rc/dsm_rc/DsmRc.cpp
+++ b/src/drivers/rc/dsm_rc/DsmRc.cpp
@@ -399,6 +399,7 @@ This module does Spektrum DSM RC input parsing.
 )DESCR_STR");
 
 	PRINT_MODULE_USAGE_NAME("dsm_rc", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("radio_control");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "RC device", true);
 
diff --git a/src/drivers/rc/ghst_rc/GhstRc.cpp b/src/drivers/rc/ghst_rc/GhstRc.cpp
index 1aa3c23e89..aa4525d64c 100644
--- a/src/drivers/rc/ghst_rc/GhstRc.cpp
+++ b/src/drivers/rc/ghst_rc/GhstRc.cpp
@@ -292,6 +292,7 @@ This module does Ghost (GHST) RC input parsing.
 )DESCR_STR");
 
 	PRINT_MODULE_USAGE_NAME("ghst_rc", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("radio_control");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "RC device", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
diff --git a/src/drivers/rc/sbus_rc/SbusRc.cpp b/src/drivers/rc/sbus_rc/SbusRc.cpp
index 12d57da141..2ebdcfa207 100644
--- a/src/drivers/rc/sbus_rc/SbusRc.cpp
+++ b/src/drivers/rc/sbus_rc/SbusRc.cpp
@@ -302,6 +302,7 @@ This module does SBUS RC input parsing.
 )DESCR_STR");
 
 	PRINT_MODULE_USAGE_NAME("sbus_rc", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("radio_control");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "RC device", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
diff --git a/src/drivers/rc_input/RCInput.cpp b/src/drivers/rc_input/RCInput.cpp
index a86ade0ad0..214853f647 100644
--- a/src/drivers/rc_input/RCInput.cpp
+++ b/src/drivers/rc_input/RCInput.cpp
@@ -1018,6 +1018,7 @@ This module does the RC input parsing and auto-selecting the method. Supported m
 )DESCR_STR");
 
 	PRINT_MODULE_USAGE_NAME("rc_input", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("radio_control");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "RC device", true);