diff --git a/pymavlink/tools/mavlogdump.py b/pymavlink/tools/mavlogdump.py
index a75c8cedbb..ecc76114f5 100755
--- a/pymavlink/tools/mavlogdump.py
+++ b/pymavlink/tools/mavlogdump.py
@@ -7,10 +7,10 @@
 header. The timestamp is in microseconds since 1970 (unix epoch)
 '''
 
-import sys, time, os, struct
+import sys, time, os, struct, json
 
 from optparse import OptionParser
-parser = OptionParser("mavlogdump.py [options]")
+parser = OptionParser("mavlogdump.py [options] <LOGFILE>")
 
 parser.add_option("--no-timestamps",dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
 parser.add_option("--planner",dest="planner", action='store_true', help="use planner file format")
@@ -20,15 +20,20 @@
 parser.add_option("-q", "--quiet", dest="quiet", action='store_true', help="don't display packets")
 parser.add_option("-o", "--output", default=None, help="output matching packets to give file")
 parser.add_option("-p", "--parms",  action='store_true', help="preserve parameters in output with -o")
+parser.add_option("--format", dest="format", default=None, help="Change the output format between 'standard', 'json', and 'csv'. For the CSV output, you must supply types that you want.")
+parser.add_option("--csv_sep", dest="csv_sep", default=",", help="Select the delimiter between columns for the output CSV file. Use 'tab' to specify tabs. Only applies when --format=csv")
 parser.add_option("--types",  default=None, help="types of messages (comma separated)")
 parser.add_option("--dialect",  default="ardupilotmega", help="MAVLink dialect")
 parser.add_option("--zero-time-base",  action='store_true', help="use Z time base for DF logs")
 (opts, args) = parser.parse_args()
 
+import inspect
+
 from pymavlink import mavutil
 
+
 if len(args) < 1:
-    print("Usage: mavlogdump.py [options] <LOGFILE>")
+    parser.print_help()
     sys.exit(1)
 
 filename = args[0]
@@ -49,10 +54,40 @@
 ext = os.path.splitext(filename)[1]
 isbin = ext in ['.bin', '.BIN']
 islog = ext in ['.log', '.LOG']
+
+if opts.csv_sep == "tab":
+    opts.csv_sep = "\t"
+
+# Write out a header row as we're outputting in CSV format.
+fields = ['timestamp']
+offsets = {}
+if opts.format == 'csv':
+    try:
+        currentOffset = 1 # Store how many fields in we are for each message.
+        for type in types:
+            try:
+                typeClass = "MAVLink_{0}_message".format(type.lower())
+                fields += [type + '.' + x for x in inspect.getargspec(getattr(mavutil.mavlink, typeClass).__init__).args[1:]]
+                offsets[type] = currentOffset
+                currentOffset += len(fields)
+            except IndexError:
+                quit()
+    except TypeError:
+        print("You must specify a list of message types if outputting CSV format via the --types argument.")
+        exit()
     
+    # The first line output are names for all columns
+    print(','.join(fields))
+
+# Track the last timestamp value. Used for compressing data for the CSV output format.
+last_timestamp = None 
+
+# Keep track of data from the current timestep. If the following timestep has the same data, it's stored in here as well. Output should therefore have entirely unique timesteps.
+csv_out = ["" for x in fields]
 while True:
     m = mlog.recv_match(blocking=opts.follow)
     if m is None:
+        # FIXME: Make sure to output the last CSV message before dropping out of this loop
         break
     if output is not None:
         if (isbin or islog) and m.get_type() == "FMT":
@@ -68,21 +103,68 @@
     if not mavutil.evaluate_condition(opts.condition, mlog.messages):
         continue
 
-    if types is not None and m.get_type() not in types:
+    if types is not None and m.get_type() not in types and m.get_type() != 'BAD_DATA':
+        continue
+
+    if m.get_type() == 'BAD_DATA' and m.reason == "Bad prefix":
         continue
-    last_timestamp = 0
-    if output and m.get_type() != 'BAD_DATA':
-        timestamp = getattr(m, '_timestamp', None)
-        if not timestamp:
-            timestamp = last_timestamp
-        last_timestamp = timestamp
+
+    # Grab the timestamp.
+    timestamp = getattr(m, '_timestamp', None)
+
+    # If we're just logging, pack in the timestamp and data into the output file.
+    if output:
         if not (isbin or islog):
             output.write(struct.pack('>Q', timestamp*1.0e6))
         output.write(m.get_msgbuf())
+
+    # If quiet is specified, don't display output to the terminal.
     if opts.quiet:
         continue
-    print("%s.%02u: %s" % (
-        time.strftime("%Y-%m-%d %H:%M:%S",
-                      time.localtime(m._timestamp)),
-        int(m._timestamp*1000.0)%1000, m))
+
+    # If JSON was ordered, serve it up. Split it nicely into metadata and data.
+    if opts.format == 'json':
+        # Format our message as a Python dict, which gets us almost to proper JSON format
+        data = m.to_dict()
+        
+        # Remove the mavpackettype value as we specify that later.
+        del data['mavpackettype']
+        
+        # Also, if it's a BAD_DATA message, make it JSON-compatible by removing array objects
+        if 'data' in data and type(data['data']) is not dict:
+            data['data'] = list(data['data'])
+        
+        # Prepare the message as a single object with 'meta' and 'data' keys holding
+        # the message's metadata and actual data respectively.
+        outMsg = {"meta": {"msgId": m.get_msgId(), "type": m.get_type(), "timestamp": m._timestamp}, "data": data}
         
+        # Now print out this object with stringified properly.
+        print(json.dumps(outMsg))
+    # CSV format outputs columnar data with a user-specified delimiter
+    elif opts.format == 'csv':
+        data = m.to_dict()
+        type = m.get_type()
+
+        # If this message has a duplicate timestamp, copy its data into the existing data list. Also
+        # do this if it's the first message encountered.
+        if timestamp == last_timestamp or last_timestamp is None:
+            newData = [str(data[y.split('.')[-1]]) if y.split('.')[0] == type and y.split('.')[-1] in data else "" for y in [type + '.' + x for x in fields]]
+            for i, val in enumerate(newData):
+                if val:
+                    csv_out[i] = val
+
+        # Otherwise if this is a new timestamp, print out the old output data, and store the current message for later output.
+        else:
+            csv_out[0] = str(last_timestamp)
+            print(opts.csv_sep.join(csv_out))
+            csv_out = [str(data[y.split('.')[-1]]) if y.split('.')[0] == type and y.split('.')[-1] in data else "" for y in [type + '.' + x for x in fields]]
+    # Otherwise we output in a standard Python dict-style format
+    else:
+        print("%s.%02u: %s" % (
+            time.strftime("%Y-%m-%d %H:%M:%S",
+                          time.localtime(timestamp)),
+                          int(timestamp*100.0)%100, m))
+
+    # Update our last timestamp value.
+    last_timestamp = timestamp
+