diff --git a/src/drivers/roboclaw/module.yaml b/src/drivers/roboclaw/module.yaml
index b501b1ecb3..e9dc4e9ddb 100644
--- a/src/drivers/roboclaw/module.yaml
+++ b/src/drivers/roboclaw/module.yaml
@@ -4,3 +4,31 @@ serial_config:
     port_config_param:
       name: RBCLW_SER_CFG
       group: Roboclaw
+
+parameters:
+  - group: Roboclaw Driver
+    definitions:
+      RBCLW_COUNTS_REV:
+        description:
+          short: Number of encoder counts for one wheel revolution
+          long: The default value of 1200 corresponds to the default configuration of the Aion R1 rover.
+        type: int32
+        default: 1200
+        min: 1
+      RBCLW_ADDRESS:
+        description:
+          short: Address of the ESC on the bus
+          long: The ESC has to be configured to have an address from 0x80 to 0x87. This parameter needs to match the configured value.
+        type: enum
+        default: 128
+        min: 128
+        max: 135
+        values:
+          128: 0x80
+          129: 0x81
+          130: 0x82
+          131: 0x83
+          132: 0x84
+          133: 0x85
+          134: 0x86
+          135: 0x87
diff --git a/src/drivers/roboclaw/roboclaw_params.c b/src/drivers/roboclaw/roboclaw_params.c
deleted file mode 100644
index 938e853035..0000000000
--- a/src/drivers/roboclaw/roboclaw_params.c
+++ /dev/null
@@ -1,61 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013-2023 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.
- *
- ****************************************************************************/
-
-/**
- * Encoder counts per revolution
- *
- * Number of encoder counts for one revolution. The roboclaw treats analog encoders (potentiometers) as having 2047
- * counts per rev. The default value of 1200 corresponds to the default configuration of the Aion R1 rover.
- * @min 1
- * @group Roboclaw driver
- */
-PARAM_DEFINE_INT32(RBCLW_COUNTS_REV, 1200);
-
-/**
- * Address of the Roboclaw
- *
- * The Roboclaw can be configured to have an address from 0x80 to 0x87, inclusive. It must be configured to match
- * this parameter.
- * @min 128
- * @max 135
- * @value 128 0x80
- * @value 129 0x81
- * @value 130 0x82
- * @value 131 0x83
- * @value 132 0x84
- * @value 133 0x85
- * @value 134 0x86
- * @value 135 0x87
- * @group Roboclaw driver
- */
-PARAM_DEFINE_INT32(RBCLW_ADDRESS, 128);