diff --git a/Tools/autotest/param_metadata/ednemit.py b/Tools/autotest/param_metadata/ednemit.py
index d024e13a5dbae..2989381c839ef 100644
--- a/Tools/autotest/param_metadata/ednemit.py
+++ b/Tools/autotest/param_metadata/ednemit.py
@@ -49,6 +49,9 @@ def emit(self, g):
             # 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 6bffd455d4816..daad4bbfc5a49 100644
--- a/Tools/autotest/param_metadata/emit.py
+++ b/Tools/autotest/param_metadata/emit.py
@@ -19,3 +19,6 @@ def start_libraries(self):
 
     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 201a13ef9a85b..1f3a26bb290d4 100644
--- a/Tools/autotest/param_metadata/htmlemit.py
+++ b/Tools/autotest/param_metadata/htmlemit.py
@@ -65,6 +65,8 @@ def emit(self, g):
             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 0ff31366a0c30..b5e9e5c42830f 100644
--- a/Tools/autotest/param_metadata/jsonemit.py
+++ b/Tools/autotest/param_metadata/jsonemit.py
@@ -56,6 +56,9 @@ def emit(self, g):
                 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 e6edba803bd8c..1b37acaf34484 100644
--- a/Tools/autotest/param_metadata/mdemit.py
+++ b/Tools/autotest/param_metadata/mdemit.py
@@ -90,6 +90,8 @@ def emit(self, g):
             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 e8be59cfd6f26..89e0294e8fa05 100644
--- a/Tools/autotest/param_metadata/param.py
+++ b/Tools/autotest/param_metadata/param.py
@@ -51,7 +51,8 @@ def has_param(self, pname):
              '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 4fa423b69089b..6175c21fa5a01 100755
--- a/Tools/autotest/param_metadata/rstemit.py
+++ b/Tools/autotest/param_metadata/rstemit.py
@@ -225,6 +225,9 @@ def emit(self, g):
            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 @@ def emit(self, g):
             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 7d19234baa502..0ec4b6654a55b 100644
--- a/Tools/autotest/param_metadata/xmlemit.py
+++ b/Tools/autotest/param_metadata/xmlemit.py
@@ -63,6 +63,8 @@ def emit(self, g):
 
             # 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')
diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 6ca80fccc82fe..0a1cbec4d3e51 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -2002,6 +2002,7 @@ bool AP_GPS::gps_yaw_deg(uint8_t instance, float &yaw_deg, float &accuracy_deg,
     // @Values: 0:None,1:AUTO,2:uBlox,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:DroneCAN,10:SBF,11:GSOF,13:ERB,14:MAV,15:NOVA,16:HemisphereNMEA,17:uBlox-MovingBaseline-Base,18:uBlox-MovingBaseline-Rover,19:MSP,20:AllyStar,21:ExternalAHRS,22:DroneCAN-MovingBaseline-Base,23:DroneCAN-MovingBaseline-Rover,24:UnicoreNMEA,25:UnicoreMovingBaselineNMEA,26:SBF-DualAntenna
     // @RebootRequired: True
     // @User: Advanced
+    // @Legacy: only included here so GCSs running stable can get the description.  Omitted in the Wiki.
 
     // @Param: _TYPE2
     // @CopyFieldsFrom: GPS_TYPE