diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.cpp b/src/modules/position_estimator_inav/position_estimator_inav_params.cpp
index 552374f6b7..835af6951d 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.cpp
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.cpp
@@ -46,6 +46,7 @@
  *
  * Weight (cutoff frequency) for barometer altitude measurements.
  *
+ * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -57,6 +58,7 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f);
  *
  * Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset.
  *
+ * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -68,6 +70,7 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f);
  *
  * Weight (cutoff frequency) for GPS altitude velocity measurements.
  *
+ * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -79,6 +82,7 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_V, 0.0f);
  *
  * Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset.
  *
+ * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -90,6 +94,7 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_VIS_P, 5.0f);
  *
  * Weight (cutoff frequency) for lidar measurements.
  *
+ * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -101,6 +106,7 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_LIDAR, 3.0f);
  *
  * Weight (cutoff frequency) for GPS position measurements.
  *
+ * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -112,6 +118,7 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f);
  *
  * Weight (cutoff frequency) for GPS velocity measurements.
  *
+ * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -123,6 +130,7 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f);
  *
  * Weight (cutoff frequency) for vision position measurements.
  *
+ * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -134,6 +142,7 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_P, 7.0f);
  *
  * Weight (cutoff frequency) for vision velocity measurements.
  *
+ * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -145,6 +154,7 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_V, 0.0f);
  *
  * Weight (cutoff frequency) for mocap position measurements.
  *
+ * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -157,6 +167,7 @@ PARAM_DEFINE_FLOAT(INAV_W_MOC_P, 10.0f);
  *
  * Weight (cutoff frequency) for optical flow (velocity) measurements.
  *
+ * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -168,6 +179,7 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 0.8f);
  *
  * When velocity sources lost slowly decrease estimated horizontal velocity with this weight.
  *
+ * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -179,6 +191,7 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_RES_V, 0.5f);
  *
  * When optical flow data available, multiply GPS weights (for position and velocity) by this factor.
  *
+ * @unit
  * @min 0.0
  * @max 1.0
  * @group Position Estimator INAV
@@ -190,6 +203,7 @@ PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f);
  *
  * Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable.
  *
+ * @unit
  * @min 0.0
  * @max 0.1
  * @group Position Estimator INAV
@@ -201,6 +215,7 @@ PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f);
  *
  * Factor to scale optical flow
  *
+ * @unit
  * @min 0.0
  * @max 10.0
  * @group Position Estimator INAV
@@ -212,6 +227,7 @@ PARAM_DEFINE_FLOAT(INAV_FLOW_K, 1.35f);
  *
  * 0 - lowest quality, 1 - best quality.
  *
+ * @unit
  * @min 0.0
  * @max 1.0
  * @group Position Estimator INAV
@@ -259,6 +275,7 @@ PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f);
  *
  * Value should be lower than minimal hovering thrust. Half of it is good choice.
  *
+ * @unit
  * @min 0.0
  * @max 1.0
  * @group Position Estimator INAV
@@ -306,8 +323,7 @@ PARAM_DEFINE_FLOAT(INAV_FLOW_DIST_Y, 0.0f);
  *
  * Disable mocap
  *
- * @min 0
- * @max 1
+ * @unit boolean
  * @group Position Estimator INAV
  */
 PARAM_DEFINE_FLOAT(INAV_DISAB_MOCAP, 0);
@@ -317,8 +333,7 @@ PARAM_DEFINE_FLOAT(INAV_DISAB_MOCAP, 0);
  *
  * Enable LIDAR for altitude estimation
  *
- * @min 0
- * @max 1
+ * @unit boolean
  * @group Position Estimator INAV
  */
 PARAM_DEFINE_FLOAT(INAV_LIDAR_EST, 0);
@@ -340,8 +355,8 @@ PARAM_DEFINE_FLOAT(INAV_LIDAR_OFF, 0.0f);
  *
  * Set to the appropriate key (328754) to disable vision input.
  *
+ * @unit
  * @min 0
- * @max 1
  * @group Position Estimator INAV
  */
 PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
@@ -353,8 +368,7 @@ PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
  * Else the system uses the combined attitude / position
  * filter framework.
  *
- * @min 0
- * @max 1
+ * @unit boolean
  * @group Position Estimator INAV
  */
 PARAM_DEFINE_INT32(INAV_ENABLED, 1);