diff --git a/Tools/autotest/param_metadata/ednemit.py b/Tools/autotest/param_metadata/ednemit.py
index a7fe1227c5..5d253b7e2a 100644
--- a/Tools/autotest/param_metadata/ednemit.py
+++ b/Tools/autotest/param_metadata/ednemit.py
@@ -32,7 +32,7 @@ class EDNEmit(Emit):
     def start_libraries(self):
         pass
 
-    def emit(self, g, f):
+    def emit(self, g):
         for param in g.params:
             output_dict = dict()
             # lowercase all keywords
diff --git a/Tools/autotest/param_metadata/emit.py b/Tools/autotest/param_metadata/emit.py
index 55279413dd..3414b0fa97 100644
--- a/Tools/autotest/param_metadata/emit.py
+++ b/Tools/autotest/param_metadata/emit.py
@@ -18,7 +18,7 @@ class Emit:
     def start_libraries(self):
         pass
 
-    def emit(self, g, f):
+    def emit(self, g):
         pass
 
     def set_annotate_with_vehicle(self, value):
diff --git a/Tools/autotest/param_metadata/htmlemit.py b/Tools/autotest/param_metadata/htmlemit.py
index f492d442e8..f7284d060e 100644
--- a/Tools/autotest/param_metadata/htmlemit.py
+++ b/Tools/autotest/param_metadata/htmlemit.py
@@ -47,7 +47,7 @@ DO NOT EDIT
     def start_libraries(self):
         pass
 
-    def emit(self, g, f):
+    def emit(self, g):
         tag = '%s Parameters' % g.name
         t = '\n\n<h1>%s</h1>\n' % tag
 
diff --git a/Tools/autotest/param_metadata/mdemit.py b/Tools/autotest/param_metadata/mdemit.py
index d40ee4519a..cb7604501a 100644
--- a/Tools/autotest/param_metadata/mdemit.py
+++ b/Tools/autotest/param_metadata/mdemit.py
@@ -45,7 +45,7 @@ class MDEmit(Emit):
     def start_libraries(self):
         pass
 
-    def emit(self, g, f):
+    def emit(self, g):
         nparam = False # Flag indicating this is a parameter group with redundant information (ie RCn_, SERVOn_)
         
         if g.name == 'ArduSub':
diff --git a/Tools/autotest/param_metadata/param_parse.py b/Tools/autotest/param_metadata/param_parse.py
index acb2af7226..22b403c908 100755
--- a/Tools/autotest/param_metadata/param_parse.py
+++ b/Tools/autotest/param_metadata/param_parse.py
@@ -22,6 +22,12 @@ parser.add_option("--no-emit",
                   action='store_false',
                   default=True,
                   help="don't emit parameter documention, just validate")
+parser.add_option("--format",
+                  dest='output_format',
+                  action='store',
+                  default='all',
+                  choices=['all', 'html', 'rst', 'wiki', 'xml', 'edn', 'md'],
+                  help="what output format to use")
 (opts, args) = parser.parse_args()
 
 
@@ -318,28 +324,38 @@ for library in libraries:
 def do_emit(emit):
     emit.set_annotate_with_vehicle(len(vehicles) > 1)
     for vehicle in vehicles:
-        emit.emit(vehicle, f)
+        emit.emit(vehicle)
 
     emit.start_libraries()
 
     for library in libraries:
         if library.params:
-            emit.emit(library, f)
+            emit.emit(library)
 
     emit.close()
 
 
 if opts.emit_params:
-    do_emit(XmlEmit())
-    do_emit(WikiEmit())
-    do_emit(HtmlEmit())
-    do_emit(RSTEmit())
-    do_emit(MDEmit())
-    try:
-        from ednemit import EDNEmit
-        do_emit(EDNEmit())
-    except ImportError:
-        if opts.verbose:
-            print("Unable to emit EDN, install edn_format and pytz if edn is desired")
+    if opts.output_format == 'all' or opts.output_format == 'xml':
+        do_emit(XmlEmit())
+    if opts.output_format == 'all' or opts.output_format == 'wiki':
+        do_emit(WikiEmit())
+    if opts.output_format == 'all' or opts.output_format == 'html':
+        do_emit(HtmlEmit())
+    if opts.output_format == 'all' or opts.output_format == 'rst':
+        do_emit(RSTEmit())
+    if opts.output_format == 'all' or opts.output_format == 'md':
+        do_emit(MDEmit())
+    if opts.output_format == 'all' or opts.output_format == 'edn':
+        try:
+            from ednemit import EDNEmit
+            do_emit(EDNEmit())
+        except ImportError:
+            # if the user wanted edn only then don't hide any errors
+            if opts.output_format == 'edn':
+                raise
+
+            if opts.verbose:
+                print("Unable to emit EDN, install edn_format and pytz if edn is desired")
 
 sys.exit(error_count)
diff --git a/Tools/autotest/param_metadata/rstemit.py b/Tools/autotest/param_metadata/rstemit.py
index 050fa5ba7f..e54f1cf2f9 100644
--- a/Tools/autotest/param_metadata/rstemit.py
+++ b/Tools/autotest/param_metadata/rstemit.py
@@ -179,7 +179,7 @@ Complete Parameter List
             rows.append(v)
         return self.tablify(rows, headings=render_info["headings"])
 
-    def emit(self, g, f):
+    def emit(self, g):
         tag = '%s Parameters' % self.escape(g.name)
         reference = "parameters_" + g.name
 
diff --git a/Tools/autotest/param_metadata/wikiemit.py b/Tools/autotest/param_metadata/wikiemit.py
index 4134b70c04..7c635751bb 100644
--- a/Tools/autotest/param_metadata/wikiemit.py
+++ b/Tools/autotest/param_metadata/wikiemit.py
@@ -40,7 +40,7 @@ class WikiEmit(Emit):
     def start_libraries(self):
         self.emit_comment("Libraries")
 
-    def emit(self, g, f):
+    def emit(self, g):
         t = "\n\n== %s Parameters ==\n" % (self.camelcase_escape(g.name))
 
         for param in g.params:
diff --git a/Tools/autotest/param_metadata/xmlemit.py b/Tools/autotest/param_metadata/xmlemit.py
index 0ca747b34e..f2fa294ca1 100644
--- a/Tools/autotest/param_metadata/xmlemit.py
+++ b/Tools/autotest/param_metadata/xmlemit.py
@@ -31,7 +31,7 @@ class XmlEmit(Emit):
         self.f.write('</vehicles>')
         self.f.write('<libraries>')
 
-    def emit(self, g, f):
+    def emit(self, g):
         t = '''<parameters name=%s>\n''' % quoteattr(g.name)  # i.e. ArduPlane
 
         for param in g.params: