diff --git a/Tools/autotest/logger_metadata/emit_html.py b/Tools/autotest/logger_metadata/emit_html.py
new file mode 100644
index 0000000000..822acb9358
--- /dev/null
+++ b/Tools/autotest/logger_metadata/emit_html.py
@@ -0,0 +1,61 @@
+#!/usr/bin/env python
+
+from __future__ import print_function
+
+import emitter
+
+class HTMLEmitter(emitter.Emitter):
+    def preface(self):
+        return """<!-- Dynamically generated list of Logger Messages
+This page was generated using Tools/autotest/logger_metdata/parse.py
+
+DO NOT EDIT
+-->
+
+
+<h3 style="text-align: center">Onboard Message Log Messages</h3>
+<hr />
+
+<p>This is a list of log messages which may be present in logs produced and stored onboard ArduPilot vehicles.</p>
+
+<!-- add auto-generated table of contents with "Table of Contents Plus" plugin -->
+[toc exclude="Onboard Message Log Messages"]
+
+"""
+    def postface(self):
+        return ""
+
+    def start(self):
+        self.fh = open("LogMessages.html", mode='w')
+        print(self.preface(), file=self.fh)
+
+    def emit(self, doccos):
+        self.start()
+        for docco in doccos:
+            print('    <h1>%s</h1>' % docco.name, file=self.fh)
+            if docco.url is not None:
+                print('        <a href="%s">More information</a>' % docco.url, file=self.fh)
+            if docco.description is not None:
+                print('        <h2>%s</h2>' %
+                      docco.description, file=self.fh)
+            print('        <table>', file=self.fh)
+            print("        <tr><th>FieldName</th><th>Description</th><tr>",
+                  file=self.fh)
+            for f in docco.fields:
+                if "description" in docco.fields[f]:
+                    fdesc = docco.fields[f]["description"]
+                else:
+                    fdesc = ""
+                print('        <tr><td>%s</td><td>%s</td></tr>' % (f, fdesc),
+                      file=self.fh)
+#                if "bits" in docco.fields[f]:
+#                    print('                <bits>%s</bits>' %
+#                          docco.fields[f]["bits"], file=self.fh)
+            print('        </table>', file=self.fh)
+
+            print("", file=self.fh)
+        self.stop()
+
+    def stop(self):
+        print(self.postface(), file=self.fh)
+        self.fh.close()
diff --git a/Tools/autotest/logger_metadata/emit_rst.py b/Tools/autotest/logger_metadata/emit_rst.py
new file mode 100644
index 0000000000..13133ee972
--- /dev/null
+++ b/Tools/autotest/logger_metadata/emit_rst.py
@@ -0,0 +1,181 @@
+#!/usr/bin/env python
+
+from __future__ import print_function
+
+import emitter
+
+class RSTEmitter(emitter.Emitter):
+    def preface(self):
+        return """.. Dynamically generated list of Logger Messages
+.. This page was generated using Tools/autotest/logger_metdata/parse.py
+
+.. DO NOT EDIT
+
+.. _logmessages:
+
+Onboard Message Log Messages
+============================
+
+This is a list of log messages which may be present in logs produced and stored onboard ArduPilot vehicles.
+
+"""
+    def postface(self):
+        return ""
+
+    def start(self):
+        self.fh = open("LogMessages.rst", mode='w')
+        print(self.preface(), file=self.fh)
+
+    def emit(self, doccos):
+        self.start()
+        for docco in doccos:
+            print('.. _%s:' % docco.name, file=self.fh)
+            print("", file=self.fh)
+            desc = docco.description
+            if desc is None:
+                desc = ""
+            line = '%s: %s' % (docco.name, desc)
+            print(line, file=self.fh)
+            print("~" * len(line), file=self.fh)
+
+            rows = []
+            for f in docco.fields:
+                if "description" in docco.fields[f]:
+                    fdesc = docco.fields[f]["description"]
+                else:
+                    fdesc = ""
+                rows.append([f, fdesc])
+#                if "bits" in docco.fields[f]:
+#                    print('                <bits>%s</bits>' %
+#                          docco.fields[f]["bits"], file=self.fh)
+            print(self.tablify(rows), file=self.fh)
+
+            print("", file=self.fh)
+        self.stop()
+
+    def stop(self):
+        print(self.postface(), file=self.fh)
+        self.fh.close()
+
+
+    # tablify swiped from rstemit.py
+
+    def tablify_row(self, rowheading, row, widths, height):
+        joiner = "|"
+
+        row_lines = [x.split("\n") for x in row]
+        for row_line in row_lines:
+            row_line.extend([""] * (height - len(row_line)))
+        if rowheading is not None:
+            rowheading_lines = rowheading.split("\n")
+            rowheading_lines.extend([""] * (height - len(rowheading_lines)))
+
+        out_lines = []
+        for i in range(0, height):
+            out_line = ""
+            if rowheading is not None:
+                rowheading_line = rowheading_lines[i]
+                out_line += joiner + " " + rowheading_line + " " * (widths[0] - len(rowheading_line) - 1)
+                joiner = "#"
+            j = 0
+            for item in row_lines:
+                widthnum = j
+                if rowheading is not None:
+                    widthnum += 1
+                line = item[i]
+                out_line += joiner + " " + line + " " * (widths[widthnum] - len(line) - 1)
+                joiner = "|"
+                j += 1
+            out_line += "|"
+            out_lines.append(out_line)
+        return "\n".join(out_lines)
+
+    def tablify_longest_row_length(self, rows, rowheadings, headings):
+        check_width_rows = rows[:]
+        if headings is not None:
+            check_width_rows.append(headings)
+        longest_row_length = 0
+        for row in check_width_rows:
+            if len(row) > longest_row_length:
+                longest_row_length = len(row)
+        if rowheadings is not None:
+            longest_row_length += 1
+        return longest_row_length
+
+    def longest_line_in_string(self, string):
+        longest = 0
+        for line in string.split("\n"):
+            if len(line) > longest:
+                longest = len(line)
+        return longest
+
+    def tablify_calc_row_widths_heights(self, rows, rowheadings, headings):
+        rows_to_check = []
+        if headings is not None:
+            rows_to_check.append(headings)
+        rows_to_check.extend(rows[:])
+
+        heights = [0] * len(rows_to_check)
+
+        longest_row_length = self.tablify_longest_row_length(rows, rowheadings, headings)
+        widths = [0] * longest_row_length
+
+        all_rowheadings = []
+        if rowheadings is not None:
+            if headings is not None:
+                all_rowheadings.append("")
+            all_rowheadings.extend(rowheadings)
+
+        for rownum in range(0, len(rows_to_check)):
+            row = rows_to_check[rownum]
+            values_to_check = []
+            if rowheadings is not None:
+                values_to_check.append(all_rowheadings[rownum])
+            values_to_check.extend(row[:])
+            colnum = 0
+            for value in values_to_check:
+                height = len(value.split("\n"))
+                if height > heights[rownum]:
+                    heights[rownum] = height
+                longest_line = self.longest_line_in_string(value)
+                width = longest_line + 2  # +2 for leading/trailing ws
+                if width > widths[colnum]:
+                    widths[colnum] = width
+                colnum += 1
+        return (widths, heights)
+
+    def tablify(self, rows, headings=None, rowheadings=None):
+
+        (widths, heights) = self.tablify_calc_row_widths_heights(rows, rowheadings, headings)
+
+        # create dividing lines
+        bar = ""
+        heading_bar = ""
+        for width in widths:
+            bar += "+"
+            heading_bar += "+"
+            bar += "-" * width
+            heading_bar += "=" * width
+        bar += "+"
+        heading_bar += "+"
+
+        # create table
+        ret = bar + "\n"
+        if headings is not None:
+            rowheading = None
+            if rowheadings is not None:
+                rowheading = ""
+            ret += self.tablify_row(rowheading, headings, widths, heights[0]) + "\n"
+            ret += heading_bar + "\n"
+        for i in range(0, len(rows)):
+            rowheading = None
+            height = i
+            if rowheadings is not None:
+                rowheading = rowheadings[i]
+            if headings is not None:
+                height += 1
+            ret += self.tablify_row(rowheading, rows[i], widths, heights[height]) + "\n"
+            ret += bar + "\n"
+
+        return ret
+
diff --git a/Tools/autotest/logger_metadata/emit_xml.py b/Tools/autotest/logger_metadata/emit_xml.py
new file mode 100644
index 0000000000..42de0a3926
--- /dev/null
+++ b/Tools/autotest/logger_metadata/emit_xml.py
@@ -0,0 +1,49 @@
+#!/usr/bin/env python
+
+from __future__ import print_function
+
+import emitter
+
+class XMLEmitter(emitter.Emitter):
+    def preface(self):
+        return """<?xml version="1.0" encoding="utf-8"?>
+<!-- Dynamically generated list of documented logfile messages (generated by parse.py) -->
+<loggermessagefile>
+"""
+    def postface(self):
+        return "</loggermessagefile>"
+
+    def start(self):
+        self.fh = open("LogMessages.xml", mode='w')
+        print(self.preface(), file=self.fh)
+
+    def emit(self, doccos):
+        self.start()
+        for docco in doccos:
+            print('    <logformat name="%s">' % docco.name, file=self.fh)
+            if docco.url is not None:
+                print('        <url>%s</url>' % docco.url, file=self.fh)
+            if docco.description is not None:
+                print('        <description>%s</description>' %
+                      docco.description, file=self.fh)
+            print('        <fields>', file=self.fh)
+            for f in docco.fields:
+                print('            <field name="%s">' % f, file=self.fh)
+                if "description" in docco.fields[f]:
+                    print('                <description>%s</description>' %
+                          docco.fields[f]["description"], file=self.fh)
+                if "bits" in docco.fields[f]:
+                    print('                <bits>%s</bits>' %
+                          docco.fields[f]["bits"], file=self.fh)
+                print('            </field>', file=self.fh)
+
+            print('        </fields>', file=self.fh)
+
+            print('    </logformat>', file=self.fh)
+
+            print("", file=self.fh)
+        self.stop()
+
+    def stop(self):
+        print(self.postface(), file=self.fh)
+        self.fh.close()
diff --git a/Tools/autotest/logger_metadata/emitter.py b/Tools/autotest/logger_metadata/emitter.py
new file mode 100644
index 0000000000..d4a55c94c0
--- /dev/null
+++ b/Tools/autotest/logger_metadata/emitter.py
@@ -0,0 +1,3 @@
+class Emitter(object):
+    pass
+
diff --git a/Tools/autotest/logger_metadata/parse.py b/Tools/autotest/logger_metadata/parse.py
new file mode 100755
index 0000000000..fb527d02c4
--- /dev/null
+++ b/Tools/autotest/logger_metadata/parse.py
@@ -0,0 +1,169 @@
+#!/usr/bin/env python
+
+from __future__ import print_function
+
+import argparse
+import os
+import re
+import sys
+
+import emit_html
+import emit_rst
+import emit_xml
+
+topdir = os.path.join(os.path.dirname(os.path.realpath(__file__)), '../../../')
+topdir = os.path.realpath(topdir)
+
+re_loggermessage = re.compile(r"@LoggerMessage\s*:\s*(\w+)", re.MULTILINE)
+re_commentline = re.compile(r"\s*//")
+re_description = re.compile(r"\s*//\s*@Description\s*:\s*(.*)")
+re_url = re.compile(r"\s*//\s*@URL\s*:\s*(.*)")
+re_field = re.compile(r"\s*//\s*@Field\s*:\s*(\w+):\s*(.*)")
+re_fieldbits = re.compile(r"\s*//\s*@FieldBits\s*:\s*(\w+):\s*(.*)")
+re_fieldbits = re.compile(r"\s*//\s*@FieldBits\s*:\s*(\w+):\s*(.*)")
+re_vehicles = re.compile(r"\s*//\s*@Vehicles\s*:\s*(.*)")
+
+# TODO: validate URLS actually return 200
+# TODO: augment with other information from log definitions; type and units...
+
+
+class LoggerDocco(object):
+
+    vehicle_map = {
+        "Rover": "APMrover2",
+        "Sub": "ArduSub",
+        "Copter": "ArduCopter",
+        "Plane": "ArduPlane",
+        "Tracker": "AntennaTracker",
+    }
+
+    def __init__(self, vehicle):
+        self.vehicle = vehicle
+        self.doccos = []
+        self.emitters = [
+            emit_html.HTMLEmitter(),
+            emit_rst.RSTEmitter(),
+            emit_xml.XMLEmitter(),
+        ]
+
+    class Docco(object):
+
+        def __init__(self, name):
+            self.name = name
+            self.url = None
+            self.description = None
+            self.fields = {}
+            self.vehicles = None
+
+        def set_description(self, desc):
+            self.description = desc
+
+        def set_url(self, url):
+            self.url = url
+
+        def set_field_description(self, field, description):
+            if field not in self.fields:
+                self.fields[field] = {}
+            self.fields[field]["description"] = description
+
+        def set_field_bits(self, field, bits):
+            if field not in self.fields:
+                self.fields = {}
+            self.fields[field]["bits"] = bits
+
+        def set_vehicles(self, vehicles):
+            self.vehicles = vehicles
+
+    def search_for_files(self, dirs_to_search):
+        _next = []
+        for _dir in dirs_to_search:
+            for entry in os.listdir(_dir):
+                filepath = os.path.join(_dir, entry)
+                if os.path.isdir(filepath):
+                    _next.append(filepath)
+                    continue
+                (name, extension) = os.path.splitext(filepath)
+                if extension not in [".cpp", ".h"]:
+                    continue
+                self.files.append(filepath)
+        if len(_next):
+            self.search_for_files(_next)
+
+    def parse_file(self, filepath):
+        with open(filepath) as f:
+            #            print("Opened (%s)" % filepath)
+            lines = f.readlines()
+            f.close()
+            state_outside = "outside"
+            state_inside = "inside"
+            state = state_outside
+            docco = None
+        for line in lines:
+            if state == state_outside:
+                m = re_loggermessage.search(line)
+                if m is None:
+                    continue
+                name = m.group(1)
+                state = state_inside
+                docco = LoggerDocco.Docco(name)
+            elif state == state_inside:
+                if not re_commentline.match(line):
+                    state = state_outside
+                    if docco.vehicles is None or self.vehicle in docco.vehicles:
+                        self.finalise_docco(docco)
+                    continue
+                m = re_description.match(line)
+                if m is not None:
+                    docco.set_description(m.group(1))
+                    continue
+                m = re_url.match(line)
+                if m is not None:
+                    docco.set_url(m.group(1))
+                    continue
+                m = re_field.match(line)
+                if m is not None:
+                    docco.set_field_description(m.group(1), m.group(2))
+                    continue
+                m = re_fieldbits.match(line)
+                if m is not None:
+                    docco.set_field_bits(m.group(1), m.group(2))
+                    continue
+                m = re_vehicles.match(line)
+                if m is not None:
+                    docco.set_vehicles([x.strip() for x in m.group(1).split(',')])
+                    continue
+                print("Unknown field (%s)" % str(line))
+                sys.exit(1)
+
+    def parse_files(self):
+        for _file in self.files:
+            self.parse_file(_file)
+
+    def emit_output(self):
+        for emitter in self.emitters:
+            emitter.emit(self.doccos)
+
+    def run(self):
+        self.files = []
+        self.search_for_files([self.vehicle_map[self.vehicle], "libraries"])
+        self.parse_files()
+        self.emit_output()
+
+    def finalise_docco(self, docco):
+        self.doccos.append(docco)
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description="Parse parameters.")
+    parser.add_argument("-v", "--verbose", dest='verbose', action='store_true', default=False, help="show debugging output")
+    parser.add_argument("--vehicle", required=True, help="Vehicle type to generate for")
+
+    args = parser.parse_args()
+
+    s = LoggerDocco(args.vehicle)
+
+    if args.vehicle not in s.vehicle_map:
+        print("Invalid vehicle (choose from: %s)" % str(s.vehicle_map.keys()))
+        sys.exit(1)
+
+    s.run()