diff --git a/src/lib/rate_control/CMakeLists.txt b/src/lib/rate_control/CMakeLists.txt
index 2370b2eb5d..795825537b 100644
--- a/src/lib/rate_control/CMakeLists.txt
+++ b/src/lib/rate_control/CMakeLists.txt
@@ -37,6 +37,7 @@ px4_add_library(RateControl
 	gain_compression.cpp
 	gain_compression.hpp
 )
+set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gain_compression_params.yaml)
 target_compile_options(RateControl PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
 target_include_directories(RateControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_link_libraries(RateControl PRIVATE mathlib)
diff --git a/src/lib/rate_control/gain_compression_params.c b/src/lib/rate_control/gain_compression_params.c
deleted file mode 100644
index 7a3cda5660..0000000000
--- a/src/lib/rate_control/gain_compression_params.c
+++ /dev/null
@@ -1,53 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2025 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.
- *
- ****************************************************************************/
-
-/**
- * Enable rate gain compression
- *
- * @boolean
- * @group FW Rate Control
- */
-PARAM_DEFINE_INT32(FW_GC_EN, 1);
-
-/**
- * Compression gain lower limit
- *
- * The range of the compression gain is between this parameter and 1.0
- *
- * @min 0.0
- * @max 1.0
- * @increment 0.01
- * @decimal 2
- * @group FW Rate Control
- */
-PARAM_DEFINE_FLOAT(FW_GC_GAIN_MIN, 0.3f);
diff --git a/src/lib/rate_control/gain_compression_params.yaml b/src/lib/rate_control/gain_compression_params.yaml
new file mode 100644
index 0000000000..4a2339a60a
--- /dev/null
+++ b/src/lib/rate_control/gain_compression_params.yaml
@@ -0,0 +1,19 @@
+module_name: rate_control
+parameters:
+- group: FW Rate Control
+  definitions:
+    FW_GC_EN:
+      description:
+        short: Enable rate gain compression
+      type: boolean
+      default: 1
+    FW_GC_GAIN_MIN:
+      description:
+        short: Compression gain lower limit
+        long: The range of the compression gain is between this parameter and 1.0
+      type: float
+      default: 0.3
+      min: 0.0
+      max: 1.0
+      increment: 0.01
+      decimal: 2