diff --git a/src/drivers/uavcannode/CMakeLists.txt b/src/drivers/uavcannode/CMakeLists.txt
index d170bde437..2027237ab8 100644
--- a/src/drivers/uavcannode/CMakeLists.txt
+++ b/src/drivers/uavcannode/CMakeLists.txt
@@ -148,6 +148,8 @@ px4_add_module(
 		UavcanNode.hpp
 		UavcanNodeParamManager.hpp
 		UavcanNodeParamManager.cpp
+	MODULE_CONFIG
+		uavcannode_params.yaml
 	DEPENDS
 		arch_watchdog_iwdg
 		px4_uavcan_dsdlc
diff --git a/src/drivers/uavcannode/uavcannode_params.c b/src/drivers/uavcannode/uavcannode_params.c
deleted file mode 100644
index a87817b885..0000000000
--- a/src/drivers/uavcannode/uavcannode_params.c
+++ /dev/null
@@ -1,122 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2014-2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * UAVCAN CAN node ID (0 for dynamic allocation).
- *
- * @min 0
- * @max 127
- * @group UAVCAN
- */
-PARAM_DEFINE_INT32(CANNODE_NODE_ID, 0);
-
-/**
- * UAVCAN CAN bus bitrate.
- *
- * @min 20000
- * @max 1000000
- * @group UAVCAN
- */
-PARAM_DEFINE_INT32(CANNODE_BITRATE, 1000000);
-
-/**
- * CAN built-in bus termination
- *
- * @boolean
- * @max 1
- * @group UAVCAN
- */
-PARAM_DEFINE_INT32(CANNODE_TERM, 0);
-
-/**
- * Enable MovingBaselineData subscription
- *
- * @boolean
- * @max 1
- * @reboot_required true
- * @group UAVCAN
- */
-PARAM_DEFINE_INT32(CANNODE_SUB_MBD, 0);
-
-/**
- * Enable RTCM subscription
- *
- * @boolean
- * @reboot_required true
- * @group UAVCAN
- */
-PARAM_DEFINE_INT32(CANNODE_SUB_RTCM, 0);
-
-/**
- * Enable MovingBaselineData publication
- *
- * @boolean
- * @reboot_required true
- * @group UAVCAN
- */
-PARAM_DEFINE_INT32(CANNODE_PUB_MBD, 0);
-
-/**
- * Enable RawIMU pub
- *
- * @boolean
- * @max 1
- * @group UAVCAN
- */
-PARAM_DEFINE_INT32(CANNODE_PUB_IMU, 0);
-
-/**
- * Enable barometer publication
- *
- * Enables publication of static pressure and static temperature
- * from the barometer sensor over UAVCAN.
- *
- * @boolean
- * @max 1
- * @reboot_required true
- * @group UAVCAN
- */
-PARAM_DEFINE_INT32(CANNODE_PUB_BAR, 1);
-
-/**
- * Enable magnetometer publication
- *
- * Enables publication of magnetic field strength
- * from the magnetometer sensor over UAVCAN.
- *
- * @boolean
- * @max 1
- * @reboot_required true
- * @group UAVCAN
- */
-PARAM_DEFINE_INT32(CANNODE_PUB_MAG, 1);
diff --git a/src/drivers/uavcannode/uavcannode_params.yaml b/src/drivers/uavcannode/uavcannode_params.yaml
new file mode 100644
index 0000000000..3fad17cbaf
--- /dev/null
+++ b/src/drivers/uavcannode/uavcannode_params.yaml
@@ -0,0 +1,69 @@
+module_name: uavcannode
+parameters:
+- group: UAVCAN
+  definitions:
+    CANNODE_NODE_ID:
+      description:
+        short: UAVCAN CAN node ID (0 for dynamic allocation)
+      type: int32
+      default: 0
+      min: 0
+      max: 127
+    CANNODE_BITRATE:
+      description:
+        short: UAVCAN CAN bus bitrate
+      type: int32
+      default: 1000000
+      min: 20000
+      max: 1000000
+    CANNODE_TERM:
+      description:
+        short: CAN built-in bus termination
+      type: boolean
+      default: 0
+      max: 1
+    CANNODE_SUB_MBD:
+      description:
+        short: Enable MovingBaselineData subscription
+      type: boolean
+      default: 0
+      max: 1
+      reboot_required: true
+    CANNODE_SUB_RTCM:
+      description:
+        short: Enable RTCM subscription
+      type: boolean
+      default: 0
+      reboot_required: true
+    CANNODE_PUB_MBD:
+      description:
+        short: Enable MovingBaselineData publication
+      type: boolean
+      default: 0
+      reboot_required: true
+    CANNODE_PUB_IMU:
+      description:
+        short: Enable RawIMU pub
+      type: boolean
+      default: 0
+      max: 1
+    CANNODE_PUB_BAR:
+      description:
+        short: Enable barometer publication
+        long: |-
+          Enables publication of static pressure and static temperature
+          from the barometer sensor over UAVCAN.
+      type: boolean
+      default: 1
+      max: 1
+      reboot_required: true
+    CANNODE_PUB_MAG:
+      description:
+        short: Enable magnetometer publication
+        long: |-
+          Enables publication of magnetic field strength
+          from the magnetometer sensor over UAVCAN.
+      type: boolean
+      default: 1
+      max: 1
+      reboot_required: true