diff --git a/src/modules/gyro_fft/CMakeLists.txt b/src/modules/gyro_fft/CMakeLists.txt
index b342ef250f..231db5d54d 100644
--- a/src/modules/gyro_fft/CMakeLists.txt
+++ b/src/modules/gyro_fft/CMakeLists.txt
@@ -77,6 +77,8 @@ px4_add_module(
 		${CMSIS_DSP}/Source/TransformFunctions/arm_cfft_radix4_q15.c
 		${CMSIS_DSP}/Source/TransformFunctions/arm_rfft_init_q15.c
 		${CMSIS_DSP}/Source/TransformFunctions/arm_rfft_q15.c
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		px4_work_queue
 )
diff --git a/src/modules/gyro_fft/parameters.c b/src/modules/gyro_fft/parameters.c
deleted file mode 100644
index c0d7e3eebc..0000000000
--- a/src/modules/gyro_fft/parameters.c
+++ /dev/null
@@ -1,85 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020 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.
- *
- ****************************************************************************/
-
-/**
-* IMU gyro FFT enable.
-*
-* @boolean
-* @reboot_required true
-* @group Sensors
-*/
-PARAM_DEFINE_INT32(IMU_GYRO_FFT_EN, 0);
-
-/**
-* IMU gyro FFT minimum frequency.
-*
-* @min 1
-* @max 1000
-* @unit Hz
-* @reboot_required true
-* @group Sensors
-*/
-PARAM_DEFINE_FLOAT(IMU_GYRO_FFT_MIN, 30.f);
-
-/**
-* IMU gyro FFT maximum frequency.
-*
-* @min 1
-* @max 1000
-* @unit Hz
-* @reboot_required true
-* @group Sensors
-*/
-PARAM_DEFINE_FLOAT(IMU_GYRO_FFT_MAX, 150.f);
-
-/**
-* IMU gyro FFT length.
-*
-* @value 256 256
-* @value 512 512
-* @value 1024 1024
-* @value 4096 4096
-* @unit Hz
-* @reboot_required true
-* @group Sensors
-*/
-PARAM_DEFINE_INT32(IMU_GYRO_FFT_LEN, 512);
-
-/**
-* IMU gyro FFT SNR.
-*
-* @min 1
-* @max 30
-* @group Sensors
-*/
-PARAM_DEFINE_FLOAT(IMU_GYRO_FFT_SNR, 10.f);
diff --git a/src/modules/gyro_fft/parameters.yaml b/src/modules/gyro_fft/parameters.yaml
new file mode 100644
index 0000000000..72d191505b
--- /dev/null
+++ b/src/modules/gyro_fft/parameters.yaml
@@ -0,0 +1,47 @@
+module_name: gyro_fft
+parameters:
+- group: Sensors
+  definitions:
+    IMU_GYRO_FFT_EN:
+      description:
+        short: IMU gyro FFT enable
+      type: boolean
+      default: 0
+      reboot_required: true
+    IMU_GYRO_FFT_MIN:
+      description:
+        short: IMU gyro FFT minimum frequency
+      type: float
+      default: 30.0
+      min: 1
+      max: 1000
+      unit: Hz
+      reboot_required: true
+    IMU_GYRO_FFT_MAX:
+      description:
+        short: IMU gyro FFT maximum frequency
+      type: float
+      default: 150.0
+      min: 1
+      max: 1000
+      unit: Hz
+      reboot_required: true
+    IMU_GYRO_FFT_LEN:
+      description:
+        short: IMU gyro FFT length
+      type: enum
+      values:
+        256: '256'
+        512: '512'
+        1024: '1024'
+        4096: '4096'
+      default: 512
+      unit: Hz
+      reboot_required: true
+    IMU_GYRO_FFT_SNR:
+      description:
+        short: IMU gyro FFT SNR
+      type: float
+      default: 10.0
+      min: 1
+      max: 30