diff --git a/src/modules/attitude_estimator_ekf/CMakeLists.txt b/src/modules/attitude_estimator_ekf/CMakeLists.txt
index 9a6ef24a4b..2c037d46bb 100644
--- a/src/modules/attitude_estimator_ekf/CMakeLists.txt
+++ b/src/modules/attitude_estimator_ekf/CMakeLists.txt
@@ -40,7 +40,6 @@ px4_add_module(
 		
 	SRCS
 		attitude_estimator_ekf_main.cpp
-		attitude_estimator_ekf_params.c
 		codegen/AttitudeEKF.c
 	DEPENDS
 		platforms__common
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index 14f5470425..e408fb3c99 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -108,6 +108,46 @@ usage(const char *reason)
 	fprintf(stderr, "usage: attitude_estimator_ekf {start|stop|status} [-p <additional params>]\n\n");
 }
 
+int parameters_init(struct attitude_estimator_ekf_param_handles *h)
+{
+	/* PID parameters */
+	h->q0 	=	param_find("EKF_ATT_V3_Q0");
+	h->q1 	=	param_find("EKF_ATT_V3_Q1");
+	h->q2 	=	param_find("EKF_ATT_V3_Q2");
+	h->q3 	=	param_find("EKF_ATT_V3_Q3");
+
+	h->r0 	=	param_find("EKF_ATT_V4_R0");
+	h->r1 	=	param_find("EKF_ATT_V4_R1");
+	h->r2 	=	param_find("EKF_ATT_V4_R2");
+
+	h->moment_inertia_J[0]  =   param_find("ATT_J11");
+	h->moment_inertia_J[1]  =   param_find("ATT_J22");
+	h->moment_inertia_J[2]  =   param_find("ATT_J33");
+	h->use_moment_inertia	=   param_find("ATT_J_EN");
+
+	return OK;
+}
+
+int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p)
+{
+	param_get(h->q0, &(p->q[0]));
+	param_get(h->q1, &(p->q[1]));
+	param_get(h->q2, &(p->q[2]));
+	param_get(h->q3, &(p->q[3]));
+
+	param_get(h->r0, &(p->r[0]));
+	param_get(h->r1, &(p->r[1]));
+	param_get(h->r2, &(p->r[2]));
+
+	for (int i = 0; i < 3; i++) {
+		param_get(h->moment_inertia_J[i], &(p->moment_inertia_J[3 * i + i]));
+	}
+
+	param_get(h->use_moment_inertia, &(p->use_moment_inertia));
+
+	return OK;
+}
+
 /**
  * The attitude_estimator_ekf app only briefly exists to start
  * the background job. The stack size assigned in the
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
index 31496bd0c6..92156c93e8 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
@@ -129,43 +129,3 @@ PARAM_DEFINE_FLOAT(ATT_J33, 0.0037);
  * @max 1
  */
 PARAM_DEFINE_INT32(ATT_J_EN, 0);
-
-int parameters_init(struct attitude_estimator_ekf_param_handles *h)
-{
-	/* PID parameters */
-	h->q0 	=	param_find("EKF_ATT_V3_Q0");
-	h->q1 	=	param_find("EKF_ATT_V3_Q1");
-	h->q2 	=	param_find("EKF_ATT_V3_Q2");
-	h->q3 	=	param_find("EKF_ATT_V3_Q3");
-
-	h->r0 	=	param_find("EKF_ATT_V4_R0");
-	h->r1 	=	param_find("EKF_ATT_V4_R1");
-	h->r2 	=	param_find("EKF_ATT_V4_R2");
-
-	h->moment_inertia_J[0]  =   param_find("ATT_J11");
-	h->moment_inertia_J[1]  =   param_find("ATT_J22");
-	h->moment_inertia_J[2]  =   param_find("ATT_J33");
-	h->use_moment_inertia	=   param_find("ATT_J_EN");
-
-	return OK;
-}
-
-int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p)
-{
-	param_get(h->q0, &(p->q[0]));
-	param_get(h->q1, &(p->q[1]));
-	param_get(h->q2, &(p->q[2]));
-	param_get(h->q3, &(p->q[3]));
-
-	param_get(h->r0, &(p->r[0]));
-	param_get(h->r1, &(p->r[1]));
-	param_get(h->r2, &(p->r[2]));
-
-	for (int i = 0; i < 3; i++) {
-		param_get(h->moment_inertia_J[i], &(p->moment_inertia_J[3 * i + i]));
-	}
-
-	param_get(h->use_moment_inertia, &(p->use_moment_inertia));
-
-	return OK;
-}