diff --git a/boards/bitcraze/crazyflie/syslink/CMakeLists.txt b/boards/bitcraze/crazyflie/syslink/CMakeLists.txt
index ded0b30288..fa6942a179 100644
--- a/boards/bitcraze/crazyflie/syslink/CMakeLists.txt
+++ b/boards/bitcraze/crazyflie/syslink/CMakeLists.txt
@@ -40,7 +40,6 @@ px4_add_module(
 		syslink_main.cpp
 		syslink_bridge.cpp
 		syslink_memory.cpp
-		syslink_params.c
 		syslink.c
 	DEPENDS
 		battery
diff --git a/boards/bitcraze/crazyflie/syslink/syslink_params.c b/boards/bitcraze/crazyflie/syslink/syslink_params.c
index bb310d254b..921ec014ae 100644
--- a/boards/bitcraze/crazyflie/syslink/syslink_params.c
+++ b/boards/bitcraze/crazyflie/syslink/syslink_params.c
@@ -39,10 +39,6 @@
  * @author Dennis Shtatnov <densht@gmail.com>
  */
 
-#include <nuttx/config.h>
-#include <parameters/param.h>
-
-
 /**
  * Operating channel of the NRF51
  *
diff --git a/platforms/common/CMakeLists.txt b/platforms/common/CMakeLists.txt
index 9e1817f73d..499d7408ca 100644
--- a/platforms/common/CMakeLists.txt
+++ b/platforms/common/CMakeLists.txt
@@ -35,7 +35,7 @@ set(SRCS)
 
 if (NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2")
 	list(APPEND SRCS
-		px4_log.c
+		px4_log.cpp
 		)
 endif()
 
diff --git a/platforms/common/include/px4_platform_common/defines.h b/platforms/common/include/px4_platform_common/defines.h
index 5e2edf76cc..b3ba79d8ad 100644
--- a/platforms/common/include/px4_platform_common/defines.h
+++ b/platforms/common/include/px4_platform_common/defines.h
@@ -49,22 +49,9 @@
  * Defines for all platforms.
  ****************************************************************************/
 
-/* Get the name of the default value fiven the param name */
-#define PX4_PARAM_DEFAULT_VALUE_NAME(_name) PARAM_##_name##_DEFAULT
-
-/* Shortcuts to define parameters when the default value is defined according to PX4_PARAM_DEFAULT_VALUE_NAME */
-#define PX4_PARAM_DEFINE_INT32(_name) PARAM_DEFINE_INT32(_name, PX4_PARAM_DEFAULT_VALUE_NAME(_name))
-#define PX4_PARAM_DEFINE_FLOAT(_name) PARAM_DEFINE_FLOAT(_name, PX4_PARAM_DEFAULT_VALUE_NAME(_name))
-
 #define PX4_ERROR (-1)
 #define PX4_OK 0
 
-/* Wrapper for 2d matrices */
-#define PX4_ARRAY2D(_array, _ncols, _x, _y) (_array[_x * _ncols + _y])
-
-/* Wrapper for rotation matrices stored in arrays */
-#define PX4_R(_array, _x, _y) PX4_ARRAY2D(_array, 3, _x, _y)
-
 /* Define PX4_ISFINITE */
 #ifdef __cplusplus
 constexpr bool PX4_ISFINITE(float x) { return __builtin_isfinite(x); }
@@ -79,13 +66,6 @@ constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(x); }
 /* Main entry point */
 #define PX4_MAIN_FUNCTION(_prefix) int _prefix##_task_main(int argc, char *argv[])
 
-/* Parameter handle datatype */
-#include <parameters/param.h>
-typedef param_t px4_param_t;
-
-/* Get value of parameter by name */
-#define PX4_PARAM_GET_BYNAME(_name, _destpt) param_get(param_find(_name), _destpt)
-
 #else // defined(__PX4_NUTTX) || defined(__PX4_POSIX)
 /****************************************************************************/
 #error "No target OS defined"
diff --git a/platforms/common/px4_log.c b/platforms/common/px4_log.cpp
similarity index 98%
rename from platforms/common/px4_log.c
rename to platforms/common/px4_log.cpp
index 81540997a4..272c927f87 100644
--- a/platforms/common/px4_log.c
+++ b/platforms/common/px4_log.cpp
@@ -49,7 +49,7 @@
 #include <uORB/topics/log_message.h>
 #include <drivers/drv_hrt.h>
 
-static orb_advert_t orb_log_message_pub = NULL;
+static orb_advert_t orb_log_message_pub = nullptr;
 
 __EXPORT const char *__px4_log_level_str[_PX4_LOG_LEVEL_PANIC + 1] = { "DEBUG", "INFO", "WARN", "ERROR", "PANIC" };
 __EXPORT const char *__px4_log_level_color[_PX4_LOG_LEVEL_PANIC + 1] =
@@ -58,7 +58,7 @@ __EXPORT const char *__px4_log_level_color[_PX4_LOG_LEVEL_PANIC + 1] =
 
 void px4_log_initialize(void)
 {
-	assert(orb_log_message_pub == NULL);
+	assert(orb_log_message_pub == nullptr);
 
 	/* we need to advertise with a valid message */
 	struct log_message_s log_message;
diff --git a/platforms/posix/src/px4/common/gtest_runner/gtest_functional_main.cpp b/platforms/posix/src/px4/common/gtest_runner/gtest_functional_main.cpp
index dc44167a34..ef0719b5be 100644
--- a/platforms/posix/src/px4/common/gtest_runner/gtest_functional_main.cpp
+++ b/platforms/posix/src/px4/common/gtest_runner/gtest_functional_main.cpp
@@ -35,6 +35,8 @@
 
 #include <uORB/Subscription.hpp>
 
+#include <lib/parameters/param.h>
+
 int main(int argc, char **argv)
 {
 	testing::InitGoogleTest(&argc, argv);
diff --git a/src/drivers/batt_smbus/batt_smbus.cpp b/src/drivers/batt_smbus/batt_smbus.cpp
index 9e930905f4..cc69839199 100644
--- a/src/drivers/batt_smbus/batt_smbus.cpp
+++ b/src/drivers/batt_smbus/batt_smbus.cpp
@@ -43,6 +43,8 @@
 
 #include "batt_smbus.h"
 
+#include <lib/parameters/param.h>
+
 extern "C" __EXPORT int batt_smbus_main(int argc, char *argv[]);
 
 BATT_SMBUS::BATT_SMBUS(SMBus *interface, const char *path) :
diff --git a/src/drivers/distance_sensor/sf0x/sf0x.cpp b/src/drivers/distance_sensor/sf0x/sf0x.cpp
index 5cf0c33cf3..ad88bce251 100644
--- a/src/drivers/distance_sensor/sf0x/sf0x.cpp
+++ b/src/drivers/distance_sensor/sf0x/sf0x.cpp
@@ -63,6 +63,7 @@
 #include <drivers/drv_range_finder.h>
 #include <drivers/device/device.h>
 #include <drivers/device/ringbuffer.h>
+#include <lib/parameters/param.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/distance_sensor.h>
diff --git a/src/drivers/distance_sensor/sf1xx/sf1xx.cpp b/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
index 4a5f83a15b..fe960e86d7 100644
--- a/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
+++ b/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
@@ -61,6 +61,7 @@
 #include <math.h>
 #include <unistd.h>
 
+#include <lib/parameters/param.h>
 #include <perf/perf_counter.h>
 
 #include <drivers/drv_hrt.h>
diff --git a/src/drivers/distance_sensor/teraranger/teraranger.cpp b/src/drivers/distance_sensor/teraranger/teraranger.cpp
index 3bce599d28..9f61cca1ec 100644
--- a/src/drivers/distance_sensor/teraranger/teraranger.cpp
+++ b/src/drivers/distance_sensor/teraranger/teraranger.cpp
@@ -39,6 +39,7 @@
  */
 
 #include <drivers/device/i2c.h>
+#include <lib/parameters/param.h>
 #include <perf/perf_counter.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/defines.h>
diff --git a/src/drivers/driver_framework_wrapper/df_ak8963_wrapper/df_ak8963_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_ak8963_wrapper/df_ak8963_wrapper.cpp
index 49d0ed14d2..21921aa6af 100644
--- a/src/drivers/driver_framework_wrapper/df_ak8963_wrapper/df_ak8963_wrapper.cpp
+++ b/src/drivers/driver_framework_wrapper/df_ak8963_wrapper/df_ak8963_wrapper.cpp
@@ -48,7 +48,7 @@
 #include <unistd.h>
 #include <px4_platform_common/getopt.h>
 #include <errno.h>
-
+#include <lib/parameters/param.h>
 #include <perf/perf_counter.h>
 #include <systemlib/err.h>
 
diff --git a/src/drivers/driver_framework_wrapper/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp
index 676cdd9e1c..4cf6bb5111 100644
--- a/src/drivers/driver_framework_wrapper/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp
+++ b/src/drivers/driver_framework_wrapper/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp
@@ -50,7 +50,7 @@
 #include <unistd.h>
 #include <px4_platform_common/getopt.h>
 #include <errno.h>
-
+#include <lib/parameters/param.h>
 #include <perf/perf_counter.h>
 #include <systemlib/err.h>
 
diff --git a/src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
index baa4e6ead4..6dd641122a 100644
--- a/src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
+++ b/src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
@@ -52,7 +52,7 @@
 #include <errno.h>
 
 #include <systemlib/err.h>
-
+#include <lib/parameters/param.h>
 #include <perf/perf_counter.h>
 #include <systemlib/mavlink_log.h>
 
diff --git a/src/drivers/driver_framework_wrapper/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp
index bf3de74449..e08f3b906f 100644
--- a/src/drivers/driver_framework_wrapper/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp
+++ b/src/drivers/driver_framework_wrapper/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp
@@ -50,6 +50,7 @@
 #include <errno.h>
 
 #include <systemlib/err.h>
+#include <lib/parameters/param.h>
 #include <perf/perf_counter.h>
 #include <systemlib/mavlink_log.h>
 
diff --git a/src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
index 98609cf76d..5f109d2619 100644
--- a/src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
+++ b/src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
@@ -50,7 +50,7 @@
 #include <unistd.h>
 #include <px4_platform_common/getopt.h>
 #include <errno.h>
-
+#include <lib/parameters/param.h>
 #include <systemlib/err.h>
 #include <perf/perf_counter.h>
 #include <systemlib/mavlink_log.h>
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 610f53ec20..9494047be2 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -47,6 +47,7 @@
 
 #include <termios.h>
 
+#include <lib/parameters/param.h>
 #include <mathlib/mathlib.h>
 #include <matrix/math.hpp>
 #include <px4_platform_common/cli.h>
diff --git a/src/drivers/lights/rgbled/rgbled.cpp b/src/drivers/lights/rgbled/rgbled.cpp
index 1faac522f5..aee3167345 100644
--- a/src/drivers/lights/rgbled/rgbled.cpp
+++ b/src/drivers/lights/rgbled/rgbled.cpp
@@ -44,6 +44,7 @@
 
 #include <drivers/device/i2c.h>
 #include <lib/led/led.h>
+#include <lib/parameters/param.h>
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Subscription.hpp>
diff --git a/src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp b/src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp
index cc16c9426e..d16cc49560 100755
--- a/src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp
+++ b/src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp
@@ -43,6 +43,7 @@
 
 #include <drivers/device/i2c.h>
 #include <lib/led/led.h>
+#include <lib/parameters/param.h>
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Subscription.hpp>
diff --git a/src/drivers/mkblctrl/CMakeLists.txt b/src/drivers/mkblctrl/CMakeLists.txt
index 450e7a5e2c..27cf0f6f81 100644
--- a/src/drivers/mkblctrl/CMakeLists.txt
+++ b/src/drivers/mkblctrl/CMakeLists.txt
@@ -36,7 +36,6 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS
 		mkblctrl.cpp
-		mkblctrl_params.c
 	DEPENDS
 		mixer
 	)
diff --git a/src/drivers/power_monitor/ina226/ina226.cpp b/src/drivers/power_monitor/ina226/ina226.cpp
index 6fd2439e0c..75beee83e3 100644
--- a/src/drivers/power_monitor/ina226/ina226.cpp
+++ b/src/drivers/power_monitor/ina226/ina226.cpp
@@ -44,6 +44,7 @@
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/getopt.h>
 #include <drivers/device/i2c.h>
+#include <lib/parameters/param.h>
 #include <lib/perf/perf_counter.h>
 #include <drivers/drv_hrt.h>
 #include <uORB/uORB.h>
diff --git a/src/drivers/qurt/fc_addon/mpu_spi/CMakeLists.txt b/src/drivers/qurt/fc_addon/mpu_spi/CMakeLists.txt
index 15562a382e..0441fe1fa6 100644
--- a/src/drivers/qurt/fc_addon/mpu_spi/CMakeLists.txt
+++ b/src/drivers/qurt/fc_addon/mpu_spi/CMakeLists.txt
@@ -51,7 +51,6 @@ px4_add_module(
 		${FC_ADDON}/flight_controller/hexagon/inc
 	SRCS
 		mpu9x50_main.cpp
-		mpu9x50_params.c
 	DEPENDS
 	)
 target_link_libraries(platforms__qurt__fc_addon__mpu_spi PRIVATE mpu9x50)
diff --git a/src/drivers/qurt/fc_addon/rc_receiver/CMakeLists.txt b/src/drivers/qurt/fc_addon/rc_receiver/CMakeLists.txt
index ac5344653b..d222a5be3a 100644
--- a/src/drivers/qurt/fc_addon/rc_receiver/CMakeLists.txt
+++ b/src/drivers/qurt/fc_addon/rc_receiver/CMakeLists.txt
@@ -51,6 +51,5 @@ px4_add_module(
 		${FC_ADDON}/flight_controller/hexagon/inc
         SRCS
                 rc_receiver_main.cpp
-		rc_receiver_params.c
         )
 target_link_libraries(platforms__qurt__fc_addon__rc_receiver PRIVATE rc_receiver)
diff --git a/src/drivers/qurt/fc_addon/uart_esc/CMakeLists.txt b/src/drivers/qurt/fc_addon/uart_esc/CMakeLists.txt
index 64f33c77c0..5ccfb73af9 100644
--- a/src/drivers/qurt/fc_addon/uart_esc/CMakeLists.txt
+++ b/src/drivers/qurt/fc_addon/uart_esc/CMakeLists.txt
@@ -51,7 +51,6 @@ px4_add_module(
 		${FC_ADDON}/flight_controller/hexagon/inc
 	SRCS
 		uart_esc_main.cpp
-		uart_esc_params.c
 	DEPENDS
 	)
 target_link_libraries(platforms__qurt__fc_addon__uart_esc PRIVATE uart_esc)
diff --git a/src/drivers/roboclaw/RoboClaw.hpp b/src/drivers/roboclaw/RoboClaw.hpp
index 2ea6937b7b..0fabd56553 100644
--- a/src/drivers/roboclaw/RoboClaw.hpp
+++ b/src/drivers/roboclaw/RoboClaw.hpp
@@ -46,6 +46,7 @@
 #include <poll.h>
 #include <stdio.h>
 #include <termios.h>
+#include <lib/parameters/param.h>
 #include <uORB/SubscriptionPollable.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/wheel_encoders.h>
diff --git a/src/drivers/telemetry/iridiumsbd/CMakeLists.txt b/src/drivers/telemetry/iridiumsbd/CMakeLists.txt
index 7380277a73..ec289764b9 100644
--- a/src/drivers/telemetry/iridiumsbd/CMakeLists.txt
+++ b/src/drivers/telemetry/iridiumsbd/CMakeLists.txt
@@ -37,7 +37,6 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS
 		IridiumSBD.cpp
-		iridiumsbd_params.c
 	MODULE_CONFIG
 		module.yaml
 	DEPENDS
diff --git a/src/drivers/telemetry/iridiumsbd/iridiumsbd_params.c b/src/drivers/telemetry/iridiumsbd/iridiumsbd_params.c
index ccf7049c4e..483dc5c527 100644
--- a/src/drivers/telemetry/iridiumsbd/iridiumsbd_params.c
+++ b/src/drivers/telemetry/iridiumsbd/iridiumsbd_params.c
@@ -1,4 +1,3 @@
-#include <parameters/param.h>
 
 /**
  * Satellite radio read interval. Only required to be nonzero if data is not sent using a ring call.
diff --git a/src/drivers/uavcan/CMakeLists.txt b/src/drivers/uavcan/CMakeLists.txt
index 75d76f4ef4..7895092eab 100644
--- a/src/drivers/uavcan/CMakeLists.txt
+++ b/src/drivers/uavcan/CMakeLists.txt
@@ -111,7 +111,6 @@ px4_add_module(
 		# Main
 		uavcan_main.cpp
 		uavcan_servers.cpp
-		uavcan_params.c
 
 		# Actuators
 		actuators/esc.cpp
diff --git a/src/drivers/uavcan/uavcan_params.c b/src/drivers/uavcan/uavcan_params.c
index a5db12d9f9..634c144ce0 100644
--- a/src/drivers/uavcan/uavcan_params.c
+++ b/src/drivers/uavcan/uavcan_params.c
@@ -35,9 +35,6 @@
  * @author Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#include <px4_platform_common/px4_config.h>
-#include <parameters/param.h>
-
 /**
  * UAVCAN mode
  *
diff --git a/src/drivers/uavcanesc/CMakeLists.txt b/src/drivers/uavcanesc/CMakeLists.txt
index 41314c4625..c4677b742f 100644
--- a/src/drivers/uavcanesc/CMakeLists.txt
+++ b/src/drivers/uavcanesc/CMakeLists.txt
@@ -81,7 +81,6 @@ px4_add_module(
 		uavcanesc_main.cpp
 		indication_controller.cpp
 		led.cpp
-		uavcanesc_params.c
 	DEPENDS
 		drivers_bootloaders
 		git_uavcan
diff --git a/src/drivers/uavcannode/CMakeLists.txt b/src/drivers/uavcannode/CMakeLists.txt
index af2cc514db..4cb427c299 100644
--- a/src/drivers/uavcannode/CMakeLists.txt
+++ b/src/drivers/uavcannode/CMakeLists.txt
@@ -81,7 +81,6 @@ px4_add_module(
 		sim_controller.cpp
 		led.cpp
 		resources.cpp
-		uavcannode_params.c
 	DEPENDS
 		drivers_bootloaders
 		git_uavcan
diff --git a/src/lib/circuit_breaker/circuit_breaker.cpp b/src/lib/circuit_breaker/circuit_breaker.cpp
index 09f5bcef3f..f3b81e7849 100644
--- a/src/lib/circuit_breaker/circuit_breaker.cpp
+++ b/src/lib/circuit_breaker/circuit_breaker.cpp
@@ -46,12 +46,13 @@
 
 #include <stdint.h>
 #include <px4_platform_common/defines.h>
+#include <lib/parameters/param.h>
 
 bool circuit_breaker_enabled(const char *breaker, int32_t magic)
 {
 	int32_t val = -1;
 
-	return (PX4_PARAM_GET_BYNAME(breaker, &val) == 0) && (val == magic);
+	return (param_get(param_find(breaker), &val) == 0) && (val == magic);
 }
 
 bool circuit_breaker_enabled_by_val(int32_t breaker_val, int32_t magic)
diff --git a/src/lib/parameters/param.h b/src/lib/parameters/param.h
index e2cf3127fe..329b410bfb 100644
--- a/src/lib/parameters/param.h
+++ b/src/lib/parameters/param.h
@@ -410,27 +410,6 @@ __EXPORT void	param_print_status(void);
  */
 __EXPORT void	param_control_autosave(bool enable);
 
-/*
- * Macros creating static parameter definitions.
- *
- * Note that these structures are not known by name; they are
- * collected into a section that is iterated by the parameter
- * code.
- *
- * Note that these macros cannot be used in C++ code due to
- * their use of designated initializers.  They should probably
- * be refactored to avoid the use of a union for param_value_u.
- */
-
-/** define an int32 parameter */
-#define PARAM_DEFINE_INT32(_name, _default)
-
-/** define a float parameter */
-#define PARAM_DEFINE_FLOAT(_name, _default)
-
-/** define a parameter that points to a structure */
-#define PARAM_DEFINE_STRUCT(_name, _default)
-
 /**
  * Parameter value union.
  */
diff --git a/src/modules/commander/Arming/ArmAuthorization/ArmAuthorization.cpp b/src/modules/commander/Arming/ArmAuthorization/ArmAuthorization.cpp
index 5f265a077b..a28de76763 100644
--- a/src/modules/commander/Arming/ArmAuthorization/ArmAuthorization.cpp
+++ b/src/modules/commander/Arming/ArmAuthorization/ArmAuthorization.cpp
@@ -37,7 +37,7 @@
 
 #include <px4_platform_common/defines.h>
 #include <px4_platform_common/px4_config.h>
-
+#include <lib/parameters/param.h>
 #include <systemlib/mavlink_log.h>
 #include <uORB/PublicationQueued.hpp>
 #include <uORB/topics/vehicle_command.h>
diff --git a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
index 0e6acbe822..f9e3c645cf 100644
--- a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
+++ b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
@@ -39,6 +39,7 @@
 
 #include <drivers/drv_hrt.h>
 #include <HealthFlags.h>
+#include <lib/parameters/param.h>
 #include <systemlib/mavlink_log.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/subsystem_info.h>
diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/ekf2Check.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/ekf2Check.cpp
index 378b7b2563..c9ee73d098 100644
--- a/src/modules/commander/Arming/PreFlightCheck/checks/ekf2Check.cpp
+++ b/src/modules/commander/Arming/PreFlightCheck/checks/ekf2Check.cpp
@@ -35,6 +35,7 @@
 
 #include <HealthFlags.h>
 #include <math.h>
+#include <lib/parameters/param.h>
 #include <systemlib/mavlink_log.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/estimator_status.h>
diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/imuConsistencyCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/imuConsistencyCheck.cpp
index 987389c325..cd81a0755f 100644
--- a/src/modules/commander/Arming/PreFlightCheck/checks/imuConsistencyCheck.cpp
+++ b/src/modules/commander/Arming/PreFlightCheck/checks/imuConsistencyCheck.cpp
@@ -34,6 +34,8 @@
 #include "../PreFlightCheck.hpp"
 
 #include <HealthFlags.h>
+
+#include <lib/parameters/param.h>
 #include <systemlib/mavlink_log.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/sensor_preflight.h>
diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/magConsistencyCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/magConsistencyCheck.cpp
index f0c1111932..bc4a077dd6 100644
--- a/src/modules/commander/Arming/PreFlightCheck/checks/magConsistencyCheck.cpp
+++ b/src/modules/commander/Arming/PreFlightCheck/checks/magConsistencyCheck.cpp
@@ -34,6 +34,8 @@
 #include "../PreFlightCheck.hpp"
 
 #include <HealthFlags.h>
+
+#include <lib/parameters/param.h>
 #include <mathlib/mathlib.h>
 #include <systemlib/mavlink_log.h>
 #include <uORB/Subscription.hpp>
diff --git a/src/modules/events/temperature_calibration/common.h b/src/modules/events/temperature_calibration/common.h
index f858bbee14..5b2f9060ca 100644
--- a/src/modules/events/temperature_calibration/common.h
+++ b/src/modules/events/temperature_calibration/common.h
@@ -42,6 +42,7 @@
 
 #include <px4_platform_common/log.h>
 #include <mathlib/mathlib.h>
+#include <lib/parameters/param.h>
 
 #include "polyfit.hpp"
 
diff --git a/src/modules/replay/Replay.cpp b/src/modules/replay/Replay.cpp
index 3039dc7a4c..a8fb1fef21 100644
--- a/src/modules/replay/Replay.cpp
+++ b/src/modules/replay/Replay.cpp
@@ -46,6 +46,7 @@
 #include <px4_platform_common/tasks.h>
 #include <px4_platform_common/time.h>
 #include <px4_platform_common/shutdown.h>
+#include <lib/parameters/param.h>
 
 #include <cstring>
 #include <float.h>
diff --git a/src/modules/vmount/input_mavlink.cpp b/src/modules/vmount/input_mavlink.cpp
index 107484801a..e6bfb3917c 100644
--- a/src/modules/vmount/input_mavlink.cpp
+++ b/src/modules/vmount/input_mavlink.cpp
@@ -44,7 +44,7 @@
 #include <uORB/topics/vehicle_command_ack.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <drivers/drv_hrt.h>
-
+#include <lib/parameters/param.h>
 #include <px4_platform_common/defines.h>
 #include <px4_platform_common/posix.h>
 #include <errno.h>
diff --git a/src/modules/vmount/vmount.cpp b/src/modules/vmount/vmount.cpp
index ca80b1d865..aec55f4466 100644
--- a/src/modules/vmount/vmount.cpp
+++ b/src/modules/vmount/vmount.cpp
@@ -52,6 +52,7 @@
 #include <fcntl.h>
 #include <unistd.h>
 #include <systemlib/err.h>
+#include <lib/parameters/param.h>
 #include <px4_platform_common/defines.h>
 #include <px4_platform_common/tasks.h>
 
diff --git a/src/systemcmds/tests/test_parameters.cpp b/src/systemcmds/tests/test_parameters.cpp
index ec829b40d2..8ad37cfaed 100644
--- a/src/systemcmds/tests/test_parameters.cpp
+++ b/src/systemcmds/tests/test_parameters.cpp
@@ -39,6 +39,7 @@
 #include <unit_test.h>
 
 #include <px4_platform_common/defines.h>
+#include <lib/parameters/param.h>
 
 #include <errno.h>
 #include <fcntl.h>