diff --git a/src/drivers/distance_sensor/lightware_laser_i2c/CMakeLists.txt b/src/drivers/distance_sensor/lightware_laser_i2c/CMakeLists.txt
index a19f16d5b9..953e74a093 100644
--- a/src/drivers/distance_sensor/lightware_laser_i2c/CMakeLists.txt
+++ b/src/drivers/distance_sensor/lightware_laser_i2c/CMakeLists.txt
@@ -35,6 +35,8 @@ px4_add_module(
 	MAIN lightware_laser_i2c
 	SRCS
 		lightware_laser_i2c.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		drivers_rangefinder
 	)
diff --git a/src/drivers/distance_sensor/lightware_laser_i2c/parameters.c b/src/drivers/distance_sensor/lightware_laser_i2c/parameters.c
deleted file mode 100644
index d549144f9d..0000000000
--- a/src/drivers/distance_sensor/lightware_laser_i2c/parameters.c
+++ /dev/null
@@ -1,83 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2017 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.
- *
- ****************************************************************************/
-
-/**
- * Lightware laser rangefinder (i2c)
- *
- * @reboot_required true
- * @min 0
- * @max 9
- * @group Sensors
- * @value 0 Disabled
- * @value 1 SF10/a
- * @value 2 SF10/b
- * @value 3 SF10/c
- * @value 4 SF11/c
- * @value 5 SF/LW20/b
- * @value 6 SF/LW20/c
- * @value 7 SF/LW30/d
- * @value 8 GRF250
- * @value 9 GRF500
- */
-PARAM_DEFINE_INT32(SENS_EN_SF1XX, 0);
-
-/**
- * Lightware laser rangefinder Operation Mode
- *
- * @value 0 Disabled
- * @value 1 Enabled
- * @value 2 Enabled in VTOL MC mode, listen to request from system in FW mode
- *
- * @min 0
- * @max 2
- */
-PARAM_DEFINE_INT32(SF1XX_MODE, 1);
-
-/**
- * Lightware laser rangefinder Rotation
- *
- * Distance sensor orientation as MAV_SENSOR_ORIENTATION enum.
- * Applies to all models supported by SENS_EN_SF1XX.
- *
- * @reboot_required true
- * @min 0
- * @max 25
- * @group Sensors
- * @value 0 Forward
- * @value 2 Right
- * @value 4 Backward
- * @value 6 Left
- * @value 24 Upward
- * @value 25 Downward
- */
-PARAM_DEFINE_INT32(SF1XX_ROT, 25);
diff --git a/src/drivers/distance_sensor/lightware_laser_i2c/parameters.yaml b/src/drivers/distance_sensor/lightware_laser_i2c/parameters.yaml
new file mode 100644
index 0000000000..f5f3c45a7f
--- /dev/null
+++ b/src/drivers/distance_sensor/lightware_laser_i2c/parameters.yaml
@@ -0,0 +1,54 @@
+module_name: lightware_laser_i2c
+parameters:
+- group: Sensors
+  definitions:
+    SENS_EN_SF1XX:
+      description:
+        short: Lightware laser rangefinder (i2c)
+      type: enum
+      values:
+        0: Disabled
+        1: SF10/a
+        2: SF10/b
+        3: SF10/c
+        4: SF11/c
+        5: SF/LW20/b
+        6: SF/LW20/c
+        7: SF/LW30/d
+        8: GRF250
+        9: GRF500
+      default: 0
+      reboot_required: true
+      min: 0
+      max: 9
+    SF1XX_ROT:
+      description:
+        short: Lightware laser rangefinder Rotation
+        long: |-
+          Distance sensor orientation as MAV_SENSOR_ORIENTATION enum.
+          Applies to all models supported by SENS_EN_SF1XX.
+      type: enum
+      values:
+        0: Forward
+        2: Right
+        4: Backward
+        6: Left
+        24: Upward
+        25: Downward
+      default: 25
+      reboot_required: true
+      min: 0
+      max: 25
+- group: Miscellaneous
+  definitions:
+    SF1XX_MODE:
+      description:
+        short: Lightware laser rangefinder Operation Mode
+      type: enum
+      values:
+        0: Disabled
+        1: Enabled
+        2: Enabled in VTOL MC mode, listen to request from system in FW mode
+      default: 1
+      min: 0
+      max: 2