diff --git a/Tools/autotest/param_metadata/ednemit.py b/Tools/autotest/param_metadata/ednemit.py
index d024e13a5d..2989381c83 100644
--- a/Tools/autotest/param_metadata/ednemit.py
+++ b/Tools/autotest/param_metadata/ednemit.py
@@ -49,6 +49,9 @@ class EDNEmit(Emit):
             # remove any keys we don't really care to share
             for key in self.remove_keys:
                 output_dict.pop(key, None)
+            for key in list(output_dict.keys()):
+                if not self.should_emit_field(param, key):
+                    output_dict.pop(key, None)
 
             # rearrange bitmasks to be a vector with nil's if the bit doesn't have meaning
             if "bitmask" in output_dict:
diff --git a/Tools/autotest/param_metadata/emit.py b/Tools/autotest/param_metadata/emit.py
index 6bffd455d4..daad4bbfc5 100644
--- a/Tools/autotest/param_metadata/emit.py
+++ b/Tools/autotest/param_metadata/emit.py
@@ -19,3 +19,6 @@ class Emit:
 
     def emit(self, g):
         pass
+
+    def should_emit_field(self, param, field):
+        return field not in ['Legacy']
diff --git a/Tools/autotest/param_metadata/htmlemit.py b/Tools/autotest/param_metadata/htmlemit.py
index 201a13ef9a..1f3a26bb29 100644
--- a/Tools/autotest/param_metadata/htmlemit.py
+++ b/Tools/autotest/param_metadata/htmlemit.py
@@ -65,6 +65,8 @@ DO NOT EDIT
             t += "<ul>\n"
 
             for field in param.__dict__.keys():
+                if not self.should_emit_field(param, field):
+                    continue
                 if field not in ['name', 'DisplayName', 'Description', 'User', 'SortValues'] and field in known_param_fields:
                     if field == 'Values' and Emit.prog_values_field.match(param.__dict__[field]):
                         values = (param.__dict__[field]).split(',')
diff --git a/Tools/autotest/param_metadata/jsonemit.py b/Tools/autotest/param_metadata/jsonemit.py
index 0ff31366a0..b5e9e5c428 100644
--- a/Tools/autotest/param_metadata/jsonemit.py
+++ b/Tools/autotest/param_metadata/jsonemit.py
@@ -56,6 +56,9 @@ class JSONEmit(Emit):
                 name = name.split(':')[1]
 
             # Remove various unwanted keys
+            for key in list(param.__dict__.keys()):
+                if not self.should_emit_field(param, key):
+                    param.__dict__.pop(key)
             for key in 'real_path', 'SortValues', '__field_text':
                 try:
                     param.__dict__.pop(key)
diff --git a/Tools/autotest/param_metadata/mdemit.py b/Tools/autotest/param_metadata/mdemit.py
index e6edba803b..1b37acaf34 100644
--- a/Tools/autotest/param_metadata/mdemit.py
+++ b/Tools/autotest/param_metadata/mdemit.py
@@ -90,6 +90,8 @@ class MDEmit(Emit):
             t += "\n\n%s" % param.Description
             
             for field in param.__dict__.keys():
+                if not self.should_emit_field(param, field):
+                    continue
                 if field not in ['name', 'DisplayName', 'Description', 'User', 'SortValues'] and field in known_param_fields:
                     if field == 'Values' and Emit.prog_values_field.match(param.__dict__[field]):
                         values = (param.__dict__[field]).split(',')
diff --git a/Tools/autotest/param_metadata/param.py b/Tools/autotest/param_metadata/param.py
index e8be59cfd6..89e0294e8f 100644
--- a/Tools/autotest/param_metadata/param.py
+++ b/Tools/autotest/param_metadata/param.py
@@ -51,7 +51,8 @@ known_param_fields = [
              'ReadOnly',
              'Calibration',
              'Vector3Parameter',
-             'SortValues'
+             'SortValues',
+             'Legacy',
                       ]
 
 # Follow SI units conventions from:
diff --git a/Tools/autotest/param_metadata/rstemit.py b/Tools/autotest/param_metadata/rstemit.py
index 4fa423b690..6175c21fa5 100755
--- a/Tools/autotest/param_metadata/rstemit.py
+++ b/Tools/autotest/param_metadata/rstemit.py
@@ -225,6 +225,9 @@ This list is automatically generated from the latest ardupilot source code, and
            reference=reference)
 
         for param in g.params:
+            if getattr(param, "Legacy", False):
+                # do not emit legacy parameters to the Wiki
+                continue
             if not hasattr(param, 'DisplayName') or not hasattr(param, 'Description'):
                 continue
             d = param.__dict__
@@ -263,6 +266,8 @@ This list is automatically generated from the latest ardupilot source code, and
             headings = []
             row = []
             for field in sorted(param.__dict__.keys()):
+                if not self.should_emit_field(param, field):
+                    continue
                 if (field not in ['name', 'DisplayName', 'Description', 'User', 'SortValues', 'RebootRequired'] and
                         field in known_param_fields):
                     headings.append(field)
diff --git a/Tools/autotest/param_metadata/xmlemit.py b/Tools/autotest/param_metadata/xmlemit.py
index 7d19234baa..0ec4b6654a 100644
--- a/Tools/autotest/param_metadata/xmlemit.py
+++ b/Tools/autotest/param_metadata/xmlemit.py
@@ -63,6 +63,8 @@ class XmlEmit(Emit):
 
             # Add values as chidren of this node
             for field in param.__dict__.keys():
+                if not self.should_emit_field(param, field):
+                    continue
                 if field not in ['name', 'DisplayName', 'Description', 'User', 'SortValues'] and field in known_param_fields:
                     if field == 'Values' and Emit.prog_values_field.match(param.__dict__[field]):
                         xml_values = etree.SubElement(xml_param, 'values')