diff --git a/src/modules/simulation/sensor_gps_sim/CMakeLists.txt b/src/modules/simulation/sensor_gps_sim/CMakeLists.txt
index 46e62f79ff..8f9d64e630 100644
--- a/src/modules/simulation/sensor_gps_sim/CMakeLists.txt
+++ b/src/modules/simulation/sensor_gps_sim/CMakeLists.txt
@@ -38,6 +38,8 @@ px4_add_module(
 	SRCS
 		SensorGpsSim.cpp
 		SensorGpsSim.hpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 	)
diff --git a/src/modules/simulation/sensor_gps_sim/parameters.c b/src/modules/simulation/sensor_gps_sim/parameters.c
deleted file mode 100644
index c9d9c74555..0000000000
--- a/src/modules/simulation/sensor_gps_sim/parameters.c
+++ /dev/null
@@ -1,52 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 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 simulated GPS sinstance
- *
- * @reboot_required true
- * @min 0
- * @max 1
- * @group Sensors
- * @value 0 Disabled
- * @value 1 Enabled
-  */
-PARAM_DEFINE_INT32(SENS_EN_GPSSIM, 0);
-
-/**
- * simulated GPS number of satellites used
- *
- * @min 0
- * @max  50
- * @group Simulator
- */
-PARAM_DEFINE_INT32(SIM_GPS_USED, 10);
diff --git a/src/modules/simulation/sensor_gps_sim/parameters.yaml b/src/modules/simulation/sensor_gps_sim/parameters.yaml
new file mode 100644
index 0000000000..899772f493
--- /dev/null
+++ b/src/modules/simulation/sensor_gps_sim/parameters.yaml
@@ -0,0 +1,24 @@
+module_name: sensor_gps_sim
+parameters:
+- group: Sensors
+  definitions:
+    SENS_EN_GPSSIM:
+      description:
+        short: Enable simulated GPS sinstance
+      type: enum
+      values:
+        0: Disabled
+        1: Enabled
+      default: 0
+      reboot_required: true
+      min: 0
+      max: 1
+- group: Simulator
+  definitions:
+    SIM_GPS_USED:
+      description:
+        short: simulated GPS number of satellites used
+      type: int32
+      default: 10
+      min: 0
+      max: 50