diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
index 208449790b..4692941769 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
@@ -49,6 +49,7 @@
  *
  * The delay in milliseconds of the velocity estimate from GPS.
  *
+ * @unit ms
  * @min 0
  * @max 1000
  * @group Position Estimator
@@ -60,6 +61,7 @@ PARAM_DEFINE_INT32(PE_VEL_DELAY_MS, 230);
  *
  * The delay in milliseconds of the position estimate from GPS.
  *
+ * @unit ms
  * @min 0
  * @max 1000
  * @group Position Estimator
@@ -71,6 +73,7 @@ PARAM_DEFINE_INT32(PE_POS_DELAY_MS, 210);
  *
  * The delay in milliseconds of the height estimate from the barometer.
  *
+ * @unit ms
  * @min 0
  * @max 1000
  * @group Position Estimator
@@ -83,6 +86,7 @@ PARAM_DEFINE_INT32(PE_HGT_DELAY_MS, 350);
  * The delay in milliseconds of the magnetic field estimate from
  * the magnetometer.
  *
+ * @unit ms
  * @min 0
  * @max 1000
  * @group Position Estimator
@@ -94,6 +98,7 @@ PARAM_DEFINE_INT32(PE_MAG_DELAY_MS, 30);
  *
  * The delay in milliseconds of the airspeed estimate.
  *
+ * @unit ms
  * @min 0
  * @max 1000
  * @group Position Estimator
@@ -104,7 +109,7 @@ PARAM_DEFINE_INT32(PE_TAS_DELAY_MS, 210);
  * GPS vs. barometric altitude update weight
  *
  * RE-CHECK this.
- *
+ * @unit
  * @min 0.0
  * @max 1.0
  * @group Position Estimator
@@ -117,6 +122,7 @@ PARAM_DEFINE_FLOAT(PE_GPS_ALT_WGT, 0.9f);
  * Increasing this value will make the filter trust this sensor
  * less and trust other sensors more.
  *
+ * @unit
  * @min 0.5
  * @max 5.0
  * @group Position Estimator
@@ -128,6 +134,7 @@ PARAM_DEFINE_FLOAT(PE_EAS_NOISE, 1.4f);
  *
  * Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5
  *
+ * @unit
  * @min 0.05
  * @max 5.0
  * @group Position Estimator
@@ -139,6 +146,7 @@ PARAM_DEFINE_FLOAT(PE_VELNE_NOISE, 0.3f);
  *
  * Generic default: 0.3, multicopters: 0.4, ground vehicles: 0.7
  *
+ * @unit
  * @min 0.2
  * @max 3.0
  * @group Position Estimator
@@ -150,6 +158,7 @@ PARAM_DEFINE_FLOAT(PE_VELD_NOISE, 0.3f);
  *
  * Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5
  *
+ * @unit
  * @min 0.1
  * @max 10.0
  * @group Position Estimator
@@ -161,6 +170,7 @@ PARAM_DEFINE_FLOAT(PE_POSNE_NOISE, 0.5f);
  *
  * Generic defaults: 1.25, multicopters: 1.0, ground vehicles: 1.0
  *
+ * @unit
  * @min 0.5
  * @max 3.0
  * @group Position Estimator
@@ -172,6 +182,7 @@ PARAM_DEFINE_FLOAT(PE_POSD_NOISE, 1.25f);
  *
  * Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05
  *
+ * @unit
  * @min 0.01
  * @max 1.0
  * @group Position Estimator
@@ -185,6 +196,7 @@ PARAM_DEFINE_FLOAT(PE_MAG_NOISE, 0.05f);
  * This noise controls how much the filter trusts the gyro measurements.
  * Increasing it makes the filter trust the gyro less and other sensors more.
  *
+ * @unit
  * @min 0.001
  * @max 0.05
  * @group Position Estimator
@@ -198,6 +210,7 @@ PARAM_DEFINE_FLOAT(PE_GYRO_PNOISE, 0.015f);
  * Increasing this value makes the filter trust the accelerometer less
  * and other sensors more.
  *
+ * @unit
  * @min 0.05
  * @max 1.0
  * @group Position Estimator
@@ -210,6 +223,7 @@ PARAM_DEFINE_FLOAT(PE_ACC_PNOISE, 0.125f);
  * Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f.
  * Increasing this value will make the gyro bias converge faster but noisier.
  *
+ * @unit
  * @min 0.00000005
  * @max 0.00001
  * @group Position Estimator
@@ -222,6 +236,7 @@ PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f);
  * Generic defaults: 0.00001f, multicopters: 0.00001f, ground vehicles: 0.00001f.
  * Increasing this value makes the bias estimation faster and noisier.
  *
+ * @unit
  * @min 0.00001
  * @max 0.001
  * @group Position Estimator
@@ -235,6 +250,7 @@ PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 1e-05f);
  * Increasing this value makes the magnetometer earth bias estimate converge
  * faster but also noisier.
  *
+ * @unit
  * @min 0.0001
  * @max 0.01
  * @group Position Estimator
@@ -248,6 +264,7 @@ PARAM_DEFINE_FLOAT(PE_MAGE_PNOISE, 0.0003f);
  * Increasing this value makes the magnetometer body bias estimate converge faster
  * but also noisier.
  *
+ * @unit
  * @min 0.0001
  * @max 0.01
  * @group Position Estimator
@@ -260,6 +277,7 @@ PARAM_DEFINE_FLOAT(PE_MAGB_PNOISE, 0.0003f);
  * The magnetometer bias. This bias is learnt by the filter over time and
  * persists between boots.
  *
+ * @unit
  * @min -0.6
  * @max 0.6
  * @group Position Estimator
@@ -272,6 +290,7 @@ PARAM_DEFINE_FLOAT(PE_MAGB_X, 0.0f);
  * The magnetometer bias. This bias is learnt by the filter over time and
  * persists between boots.
  *
+ * @unit
  * @min -0.6
  * @max 0.6
  * @group Position Estimator
@@ -284,6 +303,7 @@ PARAM_DEFINE_FLOAT(PE_MAGB_Y, 0.0f);
  * The magnetometer bias. This bias is learnt by the filter over time and
  * persists between boots.
  *
+ * @unit
  * @min -0.6
  * @max 0.6
  * @group Position Estimator
@@ -296,6 +316,7 @@ PARAM_DEFINE_FLOAT(PE_MAGB_Z, 0.0f);
  * If the standard deviation of the GPS position estimate is below this threshold
  * in meters, the filter will initialize.
  *
+ * @unit
  * @min 0.3
  * @max 10.0
  * @group Position Estimator