diff --git a/src/lib/controllib/controllib_test/CMakeLists.txt b/src/lib/controllib/controllib_test/CMakeLists.txt
index 0d57d54cc1..87333294b6 100644
--- a/src/lib/controllib/controllib_test/CMakeLists.txt
+++ b/src/lib/controllib/controllib_test/CMakeLists.txt
@@ -38,5 +38,7 @@ px4_add_module(
 		-Wno-double-promotion # TODO: fix in Matrix library Vector::pow()
 	SRCS
 		controllib_test_main.cpp
+	MODULE_CONFIG
+		test_params.yaml
 	DEPENDS
 	)
diff --git a/src/lib/controllib/controllib_test/test_params.c b/src/lib/controllib/controllib_test/test_params.c
deleted file mode 100644
index bfaa19636b..0000000000
--- a/src/lib/controllib/controllib_test/test_params.c
+++ /dev/null
@@ -1,66 +0,0 @@
-#include <parameters/param.h>
-// WARNING:
-//  do not changes these unless
-//  you want to recompute the
-//  answers for all of the unit tests
-
-
-/**
- * @group Testing
- */
-PARAM_DEFINE_FLOAT(TEST_MIN, -1.0f);
-
-/**
- * @group Testing
- */
-PARAM_DEFINE_FLOAT(TEST_MAX, 1.0f);
-
-/**
- * @group Testing
- */
-PARAM_DEFINE_FLOAT(TEST_TRIM, 0.5f);
-
-/**
- * @group Testing
- */
-PARAM_DEFINE_FLOAT(TEST_HP, 10.0f);
-
-/**
- * @group Testing
- */
-PARAM_DEFINE_FLOAT(TEST_LP, 10.0f);
-
-/**
- * @group Testing
- */
-PARAM_DEFINE_FLOAT(TEST_P, 0.2f);
-
-/**
- * @group Testing
- */
-PARAM_DEFINE_FLOAT(TEST_I, 0.1f);
-
-/**
- * @group Testing
- */
-PARAM_DEFINE_FLOAT(TEST_I_MAX, 1.0f);
-
-/**
- * @group Testing
- */
-PARAM_DEFINE_FLOAT(TEST_D, 0.01f);
-
-/**
- * @group Testing
- */
-PARAM_DEFINE_FLOAT(TEST_D_LP, 10.0f);
-
-/**
- * @group Testing
- */
-PARAM_DEFINE_FLOAT(TEST_MEAN, 1.0f);
-
-/**
- * @group Testing
- */
-PARAM_DEFINE_FLOAT(TEST_DEV, 2.0f);
diff --git a/src/lib/controllib/controllib_test/test_params.yaml b/src/lib/controllib/controllib_test/test_params.yaml
new file mode 100644
index 0000000000..8e96f358b7
--- /dev/null
+++ b/src/lib/controllib/controllib_test/test_params.yaml
@@ -0,0 +1,64 @@
+module_name: controllib_test
+parameters:
+- group: Testing
+  definitions:
+    TEST_MIN:
+      description:
+        short: TEST_MIN
+      type: float
+      default: -1.0
+    TEST_MAX:
+      description:
+        short: TEST_MAX
+      type: float
+      default: 1.0
+    TEST_TRIM:
+      description:
+        short: TEST_TRIM
+      type: float
+      default: 0.5
+    TEST_HP:
+      description:
+        short: TEST_HP
+      type: float
+      default: 10.0
+    TEST_LP:
+      description:
+        short: TEST_LP
+      type: float
+      default: 10.0
+    TEST_P:
+      description:
+        short: TEST_P
+      type: float
+      default: 0.2
+    TEST_I:
+      description:
+        short: TEST_I
+      type: float
+      default: 0.1
+    TEST_I_MAX:
+      description:
+        short: TEST_I_MAX
+      type: float
+      default: 1.0
+    TEST_D:
+      description:
+        short: TEST_D
+      type: float
+      default: 0.01
+    TEST_D_LP:
+      description:
+        short: TEST_D_LP
+      type: float
+      default: 10.0
+    TEST_MEAN:
+      description:
+        short: TEST_MEAN
+      type: float
+      default: 1.0
+    TEST_DEV:
+      description:
+        short: TEST_DEV
+      type: float
+      default: 2.0