diff --git a/boards/px4/fmu-v2/test.cmake b/boards/px4/fmu-v2/test.cmake
index f187551193..b36d6f569b 100644
--- a/boards/px4/fmu-v2/test.cmake
+++ b/boards/px4/fmu-v2/test.cmake
@@ -78,7 +78,7 @@ px4_add_board(
 		navigator
 		sensors
 		vmount
-		vtol_att_control
+		#vtol_att_control
 		#airspeed_selector
 
 	SYSTEMCMDS
diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp
index 8bcf9a0c5f..5d8cfd6ffd 100644
--- a/src/modules/vtol_att_control/standard.cpp
+++ b/src/modules/vtol_att_control/standard.cpp
@@ -46,6 +46,8 @@
 
 #include <float.h>
 
+#include <px4_param.h>
+
 using namespace matrix;
 
 Standard::Standard(VtolAttitudeControl *attc) :
@@ -60,13 +62,13 @@ Standard::Standard(VtolAttitudeControl *attc) :
 	_mc_yaw_weight = 1.0f;
 	_mc_throttle_weight = 1.0f;
 
-	_params_handles_standard.pusher_ramp_dt = param_find("VT_PSHER_RMP_DT");
-	_params_handles_standard.back_trans_ramp = param_find("VT_B_TRANS_RAMP");
-	_params_handles_standard.down_pitch_max = param_find("VT_DWN_PITCH_MAX");
-	_params_handles_standard.forward_thrust_scale = param_find("VT_FWD_THRUST_SC");
-	_params_handles_standard.pitch_setpoint_offset = param_find("FW_PSP_OFF");
-	_params_handles_standard.reverse_output = param_find("VT_B_REV_OUT");
-	_params_handles_standard.reverse_delay = param_find("VT_B_REV_DEL");
+	_params_handles_standard.pusher_ramp_dt = param_handle(px4::params::VT_PSHER_RMP_DT);
+	_params_handles_standard.back_trans_ramp = param_handle(px4::params::VT_B_TRANS_RAMP);
+	_params_handles_standard.down_pitch_max = param_handle(px4::params::VT_DWN_PITCH_MAX);
+	_params_handles_standard.forward_thrust_scale = param_handle(px4::params::VT_FWD_THRUST_SC);
+	_params_handles_standard.pitch_setpoint_offset = param_handle(px4::params::FW_PSP_OFF);
+	_params_handles_standard.reverse_output = param_handle(px4::params::VT_B_REV_OUT);
+	_params_handles_standard.reverse_delay = param_handle(px4::params::VT_B_REV_DEL);
 }
 
 void
diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp
index 523abacadc..dedf39259a 100644
--- a/src/modules/vtol_att_control/tailsitter.cpp
+++ b/src/modules/vtol_att_control/tailsitter.cpp
@@ -42,6 +42,8 @@
 #include "tailsitter.h"
 #include "vtol_att_control_main.h"
 
+#include <px4_param.h>
+
 #define ARSP_YAW_CTRL_DISABLE 4.0f	// airspeed at which we stop controlling yaw during a front transition
 #define THROTTLE_TRANSITION_MAX 0.25f	// maximum added thrust above last value in transition
 #define PITCH_TRANSITION_FRONT_P1 -1.1f	// pitch angle to switch to TRANSITION_P2
@@ -61,8 +63,8 @@ Tailsitter::Tailsitter(VtolAttitudeControl *attc) :
 
 	_flag_was_in_trans_mode = false;
 
-	_params_handles_tailsitter.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR");
-	_params_handles_tailsitter.fw_pitch_sp_offset = param_find("FW_PSP_OFF");
+	_params_handles_tailsitter.front_trans_dur_p2 = param_handle(px4::params::VT_TRANS_P2_DUR);
+	_params_handles_tailsitter.fw_pitch_sp_offset = param_handle(px4::params::FW_PSP_OFF);
 }
 
 void
diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp
index 45312bb32c..6b1cc8b27e 100644
--- a/src/modules/vtol_att_control/tiltrotor.cpp
+++ b/src/modules/vtol_att_control/tiltrotor.cpp
@@ -42,6 +42,8 @@
 #include "tiltrotor.h"
 #include "vtol_att_control_main.h"
 
+#include <px4_param.h>
+
 #define ARSP_YAW_CTRL_DISABLE 7.0f	// airspeed at which we stop controlling yaw during a front transition
 
 Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
@@ -56,10 +58,10 @@ Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
 
 	_flag_was_in_trans_mode = false;
 
-	_params_handles_tiltrotor.tilt_mc = param_find("VT_TILT_MC");
-	_params_handles_tiltrotor.tilt_transition = param_find("VT_TILT_TRANS");
-	_params_handles_tiltrotor.tilt_fw = param_find("VT_TILT_FW");
-	_params_handles_tiltrotor.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR");
+	_params_handles_tiltrotor.tilt_mc = param_handle(px4::params::VT_TILT_MC);
+	_params_handles_tiltrotor.tilt_transition = param_handle(px4::params::VT_TILT_TRANS);
+	_params_handles_tiltrotor.tilt_fw = param_handle(px4::params::VT_TILT_FW);
+	_params_handles_tiltrotor.front_trans_dur_p2 = param_handle(px4::params::VT_TRANS_P2_DUR);
 }
 
 void
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index 3facf8f049..1ba14e46bd 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -51,6 +51,8 @@
 #include <matrix/matrix/math.hpp>
 #include <uORB/PublicationQueued.hpp>
 
+#include <px4_param.h>
+
 using namespace matrix;
 
 VtolAttitudeControl::VtolAttitudeControl() :
@@ -62,30 +64,30 @@ VtolAttitudeControl::VtolAttitudeControl() :
 	_params.idle_pwm_mc = PWM_DEFAULT_MIN;
 	_params.vtol_motor_id = 0;
 
-	_params_handles.idle_pwm_mc = param_find("VT_IDLE_PWM_MC");
-	_params_handles.vtol_motor_id = param_find("VT_MOT_ID");
-	_params_handles.vtol_fw_permanent_stab = param_find("VT_FW_PERM_STAB");
-	_params_handles.vtol_type = param_find("VT_TYPE");
-	_params_handles.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK");
-	_params_handles.fw_min_alt = param_find("VT_FW_MIN_ALT");
-	_params_handles.fw_alt_err = param_find("VT_FW_ALT_ERR");
-	_params_handles.fw_qc_max_pitch = param_find("VT_FW_QC_P");
-	_params_handles.fw_qc_max_roll = param_find("VT_FW_QC_R");
-	_params_handles.front_trans_time_openloop = param_find("VT_F_TR_OL_TM");
-	_params_handles.front_trans_time_min = param_find("VT_TRANS_MIN_TM");
+	_params_handles.idle_pwm_mc = param_handle(px4::params::VT_IDLE_PWM_MC);
+	_params_handles.vtol_motor_id = param_handle(px4::params::VT_MOT_ID);
+	_params_handles.vtol_fw_permanent_stab = param_handle(px4::params::VT_FW_PERM_STAB);
+	_params_handles.vtol_type = param_handle(px4::params::VT_TYPE);
+	_params_handles.elevons_mc_lock = param_handle(px4::params::VT_ELEV_MC_LOCK);
+	_params_handles.fw_min_alt = param_handle(px4::params::VT_FW_MIN_ALT);
+	_params_handles.fw_alt_err = param_handle(px4::params::VT_FW_ALT_ERR);
+	_params_handles.fw_qc_max_pitch = param_handle(px4::params::VT_FW_QC_P);
+	_params_handles.fw_qc_max_roll = param_handle(px4::params::VT_FW_QC_R);
+	_params_handles.front_trans_time_openloop = param_handle(px4::params::VT_F_TR_OL_TM);
+	_params_handles.front_trans_time_min = param_handle(px4::params::VT_TRANS_MIN_TM);
 
-	_params_handles.front_trans_duration = param_find("VT_F_TRANS_DUR");
-	_params_handles.back_trans_duration = param_find("VT_B_TRANS_DUR");
-	_params_handles.transition_airspeed = param_find("VT_ARSP_TRANS");
-	_params_handles.front_trans_throttle = param_find("VT_F_TRANS_THR");
-	_params_handles.back_trans_throttle = param_find("VT_B_TRANS_THR");
-	_params_handles.airspeed_blend = param_find("VT_ARSP_BLEND");
-	_params_handles.airspeed_mode = param_find("FW_ARSP_MODE");
-	_params_handles.front_trans_timeout = param_find("VT_TRANS_TIMEOUT");
-	_params_handles.mpc_xy_cruise = param_find("MPC_XY_CRUISE");
-	_params_handles.fw_motors_off = param_find("VT_FW_MOT_OFFID");
-	_params_handles.diff_thrust = param_find("VT_FW_DIFTHR_EN");
-	_params_handles.diff_thrust_scale = param_find("VT_FW_DIFTHR_SC");
+	_params_handles.front_trans_duration = param_handle(px4::params::VT_F_TRANS_DUR);
+	_params_handles.back_trans_duration = param_handle(px4::params::VT_B_TRANS_DUR);
+	_params_handles.transition_airspeed = param_handle(px4::params::VT_ARSP_TRANS);
+	_params_handles.front_trans_throttle = param_handle(px4::params::VT_F_TRANS_THR);
+	_params_handles.back_trans_throttle = param_handle(px4::params::VT_B_TRANS_THR);
+	_params_handles.airspeed_blend = param_handle(px4::params::VT_ARSP_BLEND);
+	_params_handles.airspeed_mode = param_handle(px4::params::FW_ARSP_MODE);
+	_params_handles.front_trans_timeout = param_handle(px4::params::VT_TRANS_TIMEOUT);
+	_params_handles.mpc_xy_cruise = param_handle(px4::params::MPC_XY_CRUISE);
+	_params_handles.fw_motors_off = param_handle(px4::params::VT_FW_MOT_OFFID);
+	_params_handles.diff_thrust = param_handle(px4::params::VT_FW_DIFTHR_EN);
+	_params_handles.diff_thrust_scale = param_handle(px4::params::VT_FW_DIFTHR_SC);
 
 	/* fetch initial parameter values */
 	parameters_update();