diff --git a/src/drivers/distance_sensor/leddar_one/CMakeLists.txt b/src/drivers/distance_sensor/leddar_one/CMakeLists.txt
index 1b02c17763..c49e01005e 100644
--- a/src/drivers/distance_sensor/leddar_one/CMakeLists.txt
+++ b/src/drivers/distance_sensor/leddar_one/CMakeLists.txt
@@ -36,5 +36,7 @@ px4_add_module(
 	STACK_MAIN 1200
 	SRCS
 		leddar_one.cpp
+	MODULE_CONFIG
+		module.yaml
 	DEPENDS
 	)
diff --git a/src/drivers/distance_sensor/leddar_one/module.yaml b/src/drivers/distance_sensor/leddar_one/module.yaml
new file mode 100644
index 0000000000..cb16327fdf
--- /dev/null
+++ b/src/drivers/distance_sensor/leddar_one/module.yaml
@@ -0,0 +1,7 @@
+module_name: LeddarOne Rangefinder
+serial_config:
+    - command: leddar_one start -d ${SERIAL_DEV}
+      port_config_param:
+        name: SENS_LEDDAR1_CFG
+        group: Sensors
+
diff --git a/src/drivers/distance_sensor/sf0x/CMakeLists.txt b/src/drivers/distance_sensor/sf0x/CMakeLists.txt
index 165788448c..f26411f4b2 100644
--- a/src/drivers/distance_sensor/sf0x/CMakeLists.txt
+++ b/src/drivers/distance_sensor/sf0x/CMakeLists.txt
@@ -37,6 +37,8 @@ px4_add_module(
 	SRCS
 		sf0x.cpp
 		sf0x_parser.cpp
+	MODULE_CONFIG
+		module.yaml
 	DEPENDS
 	)
 
diff --git a/src/drivers/distance_sensor/sf0x/module.yaml b/src/drivers/distance_sensor/sf0x/module.yaml
new file mode 100644
index 0000000000..b42a2ebc16
--- /dev/null
+++ b/src/drivers/distance_sensor/sf0x/module.yaml
@@ -0,0 +1,7 @@
+module_name: Lightware Laser Rangefinder
+serial_config:
+    - command: sf0x start -d ${SERIAL_DEV}
+      port_config_param:
+        name: SENS_SF0X_CFG
+        group: Sensors
+
diff --git a/src/drivers/distance_sensor/tfmini/CMakeLists.txt b/src/drivers/distance_sensor/tfmini/CMakeLists.txt
index 583012a3d7..e0cd265ad8 100644
--- a/src/drivers/distance_sensor/tfmini/CMakeLists.txt
+++ b/src/drivers/distance_sensor/tfmini/CMakeLists.txt
@@ -37,6 +37,8 @@ px4_add_module(
 	SRCS
 		tfmini.cpp
 		tfmini_parser.cpp
+	MODULE_CONFIG
+		module.yaml
 	DEPENDS
 	)
 
diff --git a/src/drivers/distance_sensor/tfmini/module.yaml b/src/drivers/distance_sensor/tfmini/module.yaml
new file mode 100644
index 0000000000..770cbe979c
--- /dev/null
+++ b/src/drivers/distance_sensor/tfmini/module.yaml
@@ -0,0 +1,7 @@
+module_name: Benewake TFmini Rangefinder
+serial_config:
+    - command: tfmini start -d ${SERIAL_DEV}
+      port_config_param:
+        name: SENS_TFMINI_CFG
+        group: Sensors
+
diff --git a/src/drivers/gps/CMakeLists.txt b/src/drivers/gps/CMakeLists.txt
index deb5ce24d9..55f1ac7e97 100644
--- a/src/drivers/gps/CMakeLists.txt
+++ b/src/drivers/gps/CMakeLists.txt
@@ -44,6 +44,8 @@ px4_add_module(
 		devices/src/ashtech.cpp
 		devices/src/ubx.cpp
 		devices/src/rtcm.cpp
+	MODULE_CONFIG
+		module.yaml
 	DEPENDS
 		git_gps_devices
 	)
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 1cccc0768a..379aa91178 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -62,6 +62,7 @@
 #include <stdio.h>
 #include <math.h>
 #include <unistd.h>
+#include <px4_cli.h>
 #include <px4_config.h>
 #include <px4_getopt.h>
 #include <px4_module.h>
@@ -111,7 +112,7 @@ public:
 	};
 
 	GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interface, bool fake_gps, bool enable_sat_info,
-	    Instance instance);
+	    Instance instance, unsigned configured_baudrate);
 	virtual ~GPS();
 
 	/** @see ModuleBase */
@@ -148,6 +149,7 @@ private:
 
 	int				_serial_fd{-1};					///< serial interface to GPS
 	unsigned			_baudrate{0};					///< current baudrate
+	const unsigned			_configured_baudrate{0};			///< configured baudrate (0=auto-detect)
 	char				_port[20] {};					///< device / serial port path
 
 	bool				_healthy{false};				///< flag to signal if the GPS is ok
@@ -254,7 +256,8 @@ extern "C" __EXPORT int gps_main(int argc, char *argv[]);
 
 
 GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interface, bool fake_gps,
-	 bool enable_sat_info, Instance instance) :
+	 bool enable_sat_info, Instance instance, unsigned configured_baudrate) :
+	_configured_baudrate(configured_baudrate),
 	_mode(mode),
 	_interface(interface),
 	_fake_gps(fake_gps),
@@ -618,14 +621,6 @@ GPS::run()
 		param_get(handle, &gps_ubx_dynmodel);
 	}
 
-	int32_t configured_baudrate = 0; // auto-detect
-	handle = param_find("SER_GPS1_BAUD");
-
-	if (handle != PARAM_INVALID) {
-		param_get(handle, &configured_baudrate);
-	}
-
-
 	_orb_inject_data_fd = orb_subscribe(ORB_ID(gps_inject_data));
 
 	initializeCommunicationDump();
@@ -694,7 +689,7 @@ GPS::run()
 				break;
 			}
 
-			_baudrate = configured_baudrate;
+			_baudrate = _configured_baudrate;
 
 			if (_helper && _helper->configure(_baudrate, GPSHelper::OutputMode::GPS) == 0) {
 
@@ -930,12 +925,16 @@ so that they can be used in other projects as well (eg. QGroundControl uses them
 For testing it can be useful to fake a GPS signal (it will signal the system that it has a valid position):
 $ gps stop
 $ gps start -f
+Starting 2 GPS devices (the main GPS on /dev/ttyS3 and the secondary on /dev/ttyS4):
+gps start -d /dev/ttyS3 -e /dev/ttyS4
 )DESCR_STR");
 
 	PRINT_MODULE_USAGE_NAME("gps", "driver");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "GPS device", true);
+	PRINT_MODULE_USAGE_PARAM_INT('b', 0, 0, 3000000, "Baudrate (can also be p:<param_name>)", true);
 	PRINT_MODULE_USAGE_PARAM_STRING('e', nullptr, "<file:dev>", "Optional secondary GPS device", true);
+	PRINT_MODULE_USAGE_PARAM_INT('g', 0, 0, 3000000, "Baudrate (secondary GPS, can also be p:<param_name>)", true);
 
 	PRINT_MODULE_USAGE_PARAM_FLAG('f', "Fake a GPS signal (useful for testing)", true);
 	PRINT_MODULE_USAGE_PARAM_FLAG('s', "Enable publication of satellite info", true);
@@ -1006,6 +1005,8 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
 {
 	const char *device_name = "/dev/ttyS3";
 	const char *device_name_secondary = nullptr;
+	int baudrate_main = 0;
+	int baudrate_secondary = 0;
 	bool fake_gps = false;
 	bool enable_sat_info = false;
 	GPSHelper::Interface interface = GPSHelper::Interface::UART;
@@ -1016,8 +1017,21 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
 	int ch;
 	const char *myoptarg = nullptr;
 
-	while ((ch = px4_getopt(argc, argv, "d:e:fsi:p:", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "b:d:e:fg:si:p:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
+		case 'b':
+			if (px4_get_parameter_value(myoptarg, baudrate_main) != 0) {
+				PX4_ERR("baudrate parsing failed");
+				error_flag = true;
+			}
+			break;
+		case 'g':
+			if (px4_get_parameter_value(myoptarg, baudrate_secondary) != 0) {
+				PX4_ERR("baudrate parsing failed");
+				error_flag = true;
+			}
+			break;
+
 		case 'd':
 			device_name = myoptarg;
 			break;
@@ -1080,7 +1094,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
 
 	GPS *gps;
 	if (instance == Instance::Main) {
-		gps = new GPS(device_name, mode, interface, fake_gps, enable_sat_info, instance);
+		gps = new GPS(device_name, mode, interface, fake_gps, enable_sat_info, instance, baudrate_main);
 
 		if (gps && device_name_secondary) {
 			task_spawn(argc, argv, Instance::Secondary);
@@ -1098,7 +1112,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
 			}
 		}
 	} else { // secondary instance
-		gps = new GPS(device_name_secondary, mode, interface, fake_gps, enable_sat_info, instance);
+		gps = new GPS(device_name_secondary, mode, interface, fake_gps, enable_sat_info, instance, baudrate_secondary);
 	}
 
 	return gps;
diff --git a/src/drivers/gps/module.yaml b/src/drivers/gps/module.yaml
new file mode 100644
index 0000000000..484e434d58
--- /dev/null
+++ b/src/drivers/gps/module.yaml
@@ -0,0 +1,16 @@
+module_name: GPS
+serial_config:
+    # secondary gps must be first
+    - command: set DUAL_GPS_ARGS "-e ${SERIAL_DEV} -g p:${BAUD_PARAM}"
+      port_config_param:
+        name: GPS_2_CONFIG
+        group: GPS
+      label: Secondary GPS
+
+    - command: gps start -d ${SERIAL_DEV} -b p:${BAUD_PARAM} ${DUAL_GPS_ARGS}
+      port_config_param:
+        name: GPS_1_CONFIG
+        group: GPS
+        default: GPS1
+      label: Main GPS
+
diff --git a/src/drivers/gps/params.c b/src/drivers/gps/params.c
index a898e7712d..ee105aff2b 100644
--- a/src/drivers/gps/params.c
+++ b/src/drivers/gps/params.c
@@ -86,21 +86,3 @@ PARAM_DEFINE_INT32(GPS_UBX_DYNMODEL, 7);
  */
 PARAM_DEFINE_FLOAT(GPS_YAW_OFFSET, 0.f);
 
-
-/**
- * GPS Baudrate
- *
- * Configure the Baudrate for the GPS Serial Port. In most cases this can be set to Auto.
- *
- * The Trimble MB-Two GPS does not support auto-detection and uses a baudrate of 115200.
- *
- * @value 0 Auto
- * @value 9600 9600 8N1
- * @value 19200 19200 8N1
- * @value 38400 38400 8N1
- * @value 57600 57600 8N1
- * @value 115200 115200 8N1
- * @reboot_required true
- * @group GPS
- */
-PARAM_DEFINE_INT32(SER_GPS1_BAUD, 0);
diff --git a/src/drivers/telemetry/frsky_telemetry/CMakeLists.txt b/src/drivers/telemetry/frsky_telemetry/CMakeLists.txt
index 851f5cdc43..8f2bed90cf 100644
--- a/src/drivers/telemetry/frsky_telemetry/CMakeLists.txt
+++ b/src/drivers/telemetry/frsky_telemetry/CMakeLists.txt
@@ -39,5 +39,7 @@ px4_add_module(
 		frsky_data.cpp
 		sPort_data.cpp
 		frsky_telemetry.cpp
+	MODULE_CONFIG
+		module.yaml
 	)
 
diff --git a/src/drivers/telemetry/frsky_telemetry/module.yaml b/src/drivers/telemetry/frsky_telemetry/module.yaml
new file mode 100644
index 0000000000..796342de9c
--- /dev/null
+++ b/src/drivers/telemetry/frsky_telemetry/module.yaml
@@ -0,0 +1,7 @@
+module_name: FrSky Telemetry
+serial_config:
+    - command: frsky_telemetry start -d ${SERIAL_DEV}
+      port_config_param:
+        name: TEL_FRSKY_CONFIG
+        group: Telemetry
+
diff --git a/src/drivers/telemetry/hott/hott_telemetry/CMakeLists.txt b/src/drivers/telemetry/hott/hott_telemetry/CMakeLists.txt
index f1abeaf762..81cf72d41c 100644
--- a/src/drivers/telemetry/hott/hott_telemetry/CMakeLists.txt
+++ b/src/drivers/telemetry/hott/hott_telemetry/CMakeLists.txt
@@ -36,6 +36,8 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS
 		hott_telemetry.cpp
+	MODULE_CONFIG
+		module.yaml
 	DEPENDS
 		drivers__hott
 	)
diff --git a/src/drivers/telemetry/hott/hott_telemetry/module.yaml b/src/drivers/telemetry/hott/hott_telemetry/module.yaml
new file mode 100644
index 0000000000..ff50a8e3d4
--- /dev/null
+++ b/src/drivers/telemetry/hott/hott_telemetry/module.yaml
@@ -0,0 +1,7 @@
+module_name: HoTT Telemetry
+serial_config:
+    - command: hott_telemetry start -d ${SERIAL_DEV}
+      port_config_param:
+        name: TEL_HOTT_CONFIG
+        group: Telemetry
+
diff --git a/src/drivers/telemetry/iridiumsbd/CMakeLists.txt b/src/drivers/telemetry/iridiumsbd/CMakeLists.txt
index 8a6fc409ee..5c603f91c2 100644
--- a/src/drivers/telemetry/iridiumsbd/CMakeLists.txt
+++ b/src/drivers/telemetry/iridiumsbd/CMakeLists.txt
@@ -39,5 +39,7 @@ px4_add_module(
 	SRCS
 		IridiumSBD.cpp
 		iridiumsbd_params.c
+	MODULE_CONFIG
+		module.yaml
 	DEPENDS
 	)
diff --git a/src/drivers/telemetry/iridiumsbd/module.yaml b/src/drivers/telemetry/iridiumsbd/module.yaml
new file mode 100644
index 0000000000..f9b0bdb33d
--- /dev/null
+++ b/src/drivers/telemetry/iridiumsbd/module.yaml
@@ -0,0 +1,15 @@
+module_name: Iridium (with MAVLink)
+serial_config:
+    - command: |
+        # add a sleep here to make sure that the module is powered
+        usleep 200000
+        if iridiumsbd start -d ${SERIAL_DEV}
+        then
+            mavlink start -d /dev/iridium -m iridium -b 115200
+        else
+            tune_control play -t 20
+        fi
+      port_config_param:
+        name: ISBD_CONFIG
+        group: Iridium SBD
+
diff --git a/src/modules/mavlink/CMakeLists.txt b/src/modules/mavlink/CMakeLists.txt
index da98701e6a..1b82aee2fa 100644
--- a/src/modules/mavlink/CMakeLists.txt
+++ b/src/modules/mavlink/CMakeLists.txt
@@ -59,6 +59,8 @@ px4_add_module(
 		mavlink_stream.cpp
 		mavlink_ulog.cpp
 		mavlink_timesync.cpp
+	MODULE_CONFIG
+		module.yaml
 	DEPENDS
 		airspeed
 		git_mavlink_v2
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 8fff96dd8d..c7b4f2b2af 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -682,6 +682,11 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, bool force_flow_
 	case 1500000: speed = B1500000; break;
 #endif
 
+#ifdef B2000000
+
+	case 2000000: speed = B2000000; break;
+#endif
+
 #ifdef B3000000
 
 	case 3000000: speed = B3000000; break;
diff --git a/src/modules/mavlink/module.yaml b/src/modules/mavlink/module.yaml
new file mode 100644
index 0000000000..8aefa508a1
--- /dev/null
+++ b/src/modules/mavlink/module.yaml
@@ -0,0 +1,78 @@
+__max_num_config_instances: &max_num_config_instances 3
+
+module_name: MAVLink
+serial_config:
+    - command: |
+        set MAV_ARGS "-b p:${BAUD_PARAM} -m p:MAV_${i}_MODE -r p:MAV_${i}_RATE"
+        if param compare MAV_${i}_FORWARD 1
+        then
+            set MAV_ARGS "${MAV_ARGS} -f"
+        fi
+        mavlink start -d ${SERIAL_DEV} ${MAV_ARGS} -x
+      port_config_param:
+        name: MAV_${i}_CONFIG
+        group: MAVLink
+        # MAVLink instances:
+        # 0: Telem1 Port (Telemetry Link)
+        # 1: Telem2 Port (Companion Link). Disabled by default to reduce RAM usage
+        # 2: Board-specific / no fixed function or port
+        default: [TEL1, "", ""]
+      num_instances: *max_num_config_instances
+
+parameters:
+    - group: MAVLink
+      definitions:
+        MAV_${i}_MODE:
+            description:
+                short: MAVLink Mode for instance ${i}
+                long: |
+                    The MAVLink Mode defines the set of streamed messages (for example the
+                    vehicle's attitude) and their sending rates.
+
+            type: enum
+            values:
+                0: Normal
+                1: Custom
+                2: Onboard
+                3: OSD
+                4: Magic
+                5: Config
+                6: Iridium
+                7: Minimal
+            reboot_required: true
+            num_instances: *max_num_config_instances
+            default: [0, 2, 0]
+
+        MAV_${i}_RATE:
+            description:
+                short: Maximum MAVLink sending rate for instance ${i}
+                long: |
+                    Configure the maximum sending rate for the MAVLink streams in Bytes/sec.
+                    If the configured streams exceed the maximum rate, the sending rate of
+                    each stream is automatically decreased.
+
+                    If this is set to 0, a value of <baudrate>/20 is used, which corresponds to
+                    half of the theoretical maximum bandwidth.
+
+            type: int32
+            min: 0
+            unit: B/s
+            reboot_required: true
+            num_instances: *max_num_config_instances
+            default: [1200, 0, 0]
+
+        MAV_${i}_FORWARD:
+            description:
+                short: Enable MAVLink Message forwarding for instance ${i}
+                long: |
+                    If enabled, forward incoming MAVLink messages to other MAVLink ports if the
+                    message is either broadcast or the target is not the autopilot.
+
+                    This allows for example a GCS to talk to a camera that is connected to the
+                    autopilot via MAVLink (on a different link than the GCS).
+
+            type: boolean
+            reboot_required: true
+            num_instances: *max_num_config_instances
+            default: [true, false, false]
+
diff --git a/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt b/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
index 56c430c8af..db8b6a4a24 100644
--- a/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
+++ b/src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
@@ -106,6 +106,8 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
 			microRTPS_client_main.cpp
 			${msg_out_path}/micrortps_client/microRTPS_client.cpp
 			${msg_out_path}/micrortps_client/microRTPS_transport.cpp
+		MODULE_CONFIG
+			module.yaml
 		DEPENDS
 			topic_bridge_files
 	)
diff --git a/src/modules/micrortps_bridge/micrortps_client/module.yaml b/src/modules/micrortps_bridge/micrortps_client/module.yaml
new file mode 100644
index 0000000000..608c0c31e6
--- /dev/null
+++ b/src/modules/micrortps_bridge/micrortps_client/module.yaml
@@ -0,0 +1,17 @@
+module_name: RTPS
+serial_config:
+    - command: |
+        protocol_splitter start ${SERIAL_DEV}
+        mavlink start -d /dev/mavlink -b p:${BAUD_PARAM} -m onboard -r 5000 -x
+        micrortps_client start -d /dev/rtps -b p:${BAUD_PARAM} -l -1
+      port_config_param:
+        name: RTPS_MAV_CONFIG
+        group: RTPS
+      label: MAVLink + FastRTPS
+    - command: |
+        micrortps_client start -d ${SERIAL_DEV} -b p:${BAUD_PARAM} -l -1
+      port_config_param:
+        name: RTPS_CONFIG
+        group: RTPS
+      label: FastRTPS
+