diff --git a/rst_table.py b/rst_table.py
new file mode 100644
index 0000000000..8f3a99f648
--- /dev/null
+++ b/rst_table.py
@@ -0,0 +1,126 @@
+'''function to turn an array of arrays into an RST table.  Swiped from
+ardupilot's Tools/autotest/param_metadata/rstemit.py'''
+
+
+def tablify_row(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(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(string):
+    longest = 0
+    for line in string.split("\n"):
+        if len(line) > longest:
+            longest = len(line)
+    return longest
+
+
+def tablify_calc_row_widths_heights(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 = 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 = 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(rows, headings=None, rowheadings=None):
+
+    (widths, heights) = 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 += 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 += tablify_row(rowheading, rows[i], widths, heights[height]) + "\n"
+        ret += bar + "\n"
+
+    return ret
diff --git a/update.py b/update.py
index 59f52536c9..2a3445337b 100755
--- a/update.py
+++ b/update.py
@@ -35,7 +35,9 @@
 import distutils
 import errno
 import filecmp
+import json
 import glob
+import gzip
 import hashlib
 import multiprocessing
 import os
@@ -46,6 +48,8 @@
 import sys
 import time
 
+import rst_table
+
 from codecs import open
 from datetime import datetime
 # while flake8 says this is unused, distutils.dir_util.mkpath fails
@@ -72,6 +76,15 @@
 ]
 COMMON_DIR = 'common'
 
+WIKI_NAME_TO_VEHICLE_NAME = {
+    'copter': 'Copter',
+    'plane': 'Plane',
+    'rover': 'Rover',
+    'antennatracker': 'AntennaTracker',
+    'blimp': 'Blimp',
+    'AP_Periph': 'AP_Periph',  # no actual wiki for this....
+}
+
 # GIT_REPO = ''
 
 PARAMETER_SITE = {
@@ -792,8 +805,145 @@ def check_ref_directives():
                     error("Remove character after ref directive in \"%s\" on line number %s" % (f, i))
 
 
+def create_features_pages(site):
+    '''for each vehicle, write out a page containing features for each
+    supported board'''
+
+    debug("Creating features pages")
+
+    # grab build_options which allows us to map from define to name
+    # and description.  Create a convenience hash for it
+    remove_if_exists("build_options.py")
+    fetch_url("https://raw.githubusercontent.com/ArduPilot/ardupilot/master/Tools/scripts/build_options.py")
+    import build_options
+    build_options_by_define = {}
+    for f in build_options.BUILD_OPTIONS:
+        build_options_by_define[f.define] = f
+
+    # fetch and load most-recently-built features.json
+    remove_if_exists("features.json.gz")
+    fetch_url("https://firmware.ardupilot.org/features.json.gz")
+    features_json = json.load(gzip.open("features.json.gz"))
+    if features_json["format-version"] != "1.0.0":
+        print("bad format version")
+        return
+    features = features_json["features"]
+
+    # print("features: (%s)" % str(features))
+    for wiki in WIKI_NAME_TO_VEHICLE_NAME.keys():
+        debug(wiki)
+        if site is not None and site != wiki:
+            continue
+        if wiki not in WIKI_NAME_TO_VEHICLE_NAME:
+            continue
+        vehicletype = WIKI_NAME_TO_VEHICLE_NAME[wiki]
+        content = create_features_page(features, build_options_by_define, vehicletype)
+        if wiki == "AP_Periph":
+            destination_filepath = "dev/source/docs/periph-binary-features.rst"
+        else:
+            destination_filepath = "%s/source/docs/binary-features.rst" % wiki
+        with open(destination_filepath, "w") as f:
+            f.write(content)
+
+
+def reference_for_board(board):
+    '''return a string suitable for creating an anchor in RST to make
+    board's feture table linkable'''
+    return "FEATURE_%s" % board
+
+
+def create_features_page(features, build_options_by_define, vehicletype):
+    features_by_platform = {}
+    for build in features:
+        # print("build: (%s)" % str(build))
+        if build["vehicletype"] != vehicletype:
+            continue
+        features_by_platform[build["platform"]] = build["features"]
+    rows = []
+    column_headings = ["Category", "Feature", "Incuded", "Description"]
+    all_tables = ""
+    for platform_key in sorted(features_by_platform.keys(), key=lambda x : x.lower()):
+        rows = []
+        platform_features = features_by_platform[platform_key]
+        sorted_platform_features_in = []
+        sorted_platform_features_not_in = []
+        for feature in platform_features:
+            feature_in = not feature.startswith("!")
+            if feature_in:
+                build_options = build_options_by_define[feature]
+                sorted_platform_features_in.append((build_options.category, feature))
+            else:
+                build_options = build_options_by_define[feature[1:]]
+                sorted_platform_features_not_in.append((build_options.category, feature))
+
+        sorted_platform_features = (
+            sorted(sorted_platform_features_not_in, key=lambda x : x[0] + x[1]) +
+            sorted(sorted_platform_features_in, key=lambda x : x[0] + x[1]))
+
+        for (category, feature) in sorted_platform_features:
+            feature_in = not feature.startswith("!")
+            if not feature_in:
+                # trim off the !
+                feature = feature[1:]
+            build_options = build_options_by_define[feature]
+            row = [category, build_options.label]
+            if feature_in:
+                row.append("Yes")
+            else:
+                row.append("No")
+            row.append(build_options.description)
+            if not feature_in:
+                # for now, do not include features that are on the
+                # board, just those that aren't, per Henry's request:
+                rows.append(row)
+        t = rst_table.tablify(rows,
+                              headings=column_headings)
+        underline = "-" * len(platform_key)
+        all_tables += ('''
+.. _%s:
+
+%s
+%s
+
+%s
+''' % (reference_for_board(platform_key), platform_key, underline, t))
+
+    index = ""
+    for board in sorted(features_by_platform.keys(), key=lambda x : x.lower()):
+        index += '- :ref:`%s<%s>`\n\n' % (board, reference_for_board(board))
+
+    all_features_rows = []
+    for feature in sorted(build_options_by_define.values(), key=lambda x : (x.category + x.label).lower()):
+        all_features_rows.append([feature.category, feature.label, feature.description])
+    all_features = rst_table.tablify(all_features_rows, headings=["Category", "Feature", "Description"])
+
+    return '''
+.. Dynamically generated by update.py.  Do not edit.
+
+%s Features by board type in "latest" builds from build server
+
+Board Index
+===========
+
+%s
+
+
+All Features
+============
+
+%s
+
+Boards
+======
+
+%s
+''' % (vehicletype, index, all_features, all_tables)
+
 #######################################################################
+
+
 if __name__ == "__main__":
+
     if platform.system() == "Windows":
         multiprocessing.freeze_support()
 
@@ -886,6 +1036,8 @@ def check_ref_directives():
     generate_copy_dict()
     sphinx_make(args.site, args.parallel, args.fast)
 
+    create_features_pages(args.site)
+
     if args.paramversioning:
         put_cached_parameters_files_in_sites(args.site)
         cache_parameters_files(args.site)