diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
deleted file mode 100644
index 181ae47e5a..0000000000
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ /dev/null
@@ -1,898 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013-2016 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.
- *
- ****************************************************************************/
-
-/**
- * @file mc_pos_control_params.c
- * Multicopter position controller parameters.
- *
- * @author Anton Babushkin <anton@px4.io>
- */
-
-/**
- * Minimum collective thrust in auto thrust control
- *
- * It's recommended to set it > 0 to avoid free fall with zero thrust.
- * Note: Without airmode zero thrust leads to zero roll/pitch control authority. (see MC_AIRMODE)
- *
- * @unit norm
- * @min 0.05
- * @max 1.0
- * @decimal 2
- * @increment 0.01
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
-
-/**
- * Hover thrust
- *
- * Vertical thrust required to hover.
- * This value is mapped to center stick for manual throttle control.
- * With this value set to the thrust required to hover, transition
- * from manual to Altitude or Position mode while hovering will occur with the
- * throttle stick near center, which is then interpreted as (near)
- * zero demand for vertical speed.
- *
- * This parameter is also important for the landing detection to work correctly.
- *
- * @unit norm
- * @min 0.1
- * @max 0.8
- * @decimal 2
- * @increment 0.01
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f);
-
-/**
- * Hover thrust source selector
- *
- * Set false to use the fixed parameter MPC_THR_HOVER
- * Set true to use the value computed by the hover thrust estimator
- *
- * @boolean
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_INT32(MPC_USE_HTE, 1);
-
-/**
- * Thrust curve in Manual Mode
- *
- * This parameter defines how the throttle stick input is mapped to commanded thrust
- * in Manual/Stabilized flight mode.
- *
- * In case the default is used ('Rescale to hover thrust'), the stick input is linearly
- * rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER).
- *
- * Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful
- * in case the hover thrust is very low and the default would lead to too much distortion
- * (e.g. if hover thrust is set to 20%, 80% of the upper thrust range is squeezed into the
- * upper half of the stick range).
- *
- * Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.
- *
- * @value 0 Rescale to hover thrust
- * @value 1 No Rescale
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_INT32(MPC_THR_CURVE, 0);
-
-/**
- * Horizontal thrust margin
- *
- * Margin that is kept for horizontal control when prioritizing vertical thrust.
- * To avoid completely starving horizontal control with high vertical error.
- *
- * @unit norm
- * @min 0.0
- * @max 0.5
- * @decimal 2
- * @increment 0.01
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_THR_XY_MARG, 0.3f);
-
-/**
- * Maximum thrust in auto thrust control
- *
- * Limit max allowed thrust
- *
- * @unit norm
- * @min 0.0
- * @max 1.0
- * @decimal 2
- * @increment 0.01
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
-
-/**
- * Minimum manual thrust
- *
- * Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
- * With MC_AIRMODE set to 1, this can safely be set to 0.
- *
- * @unit norm
- * @min 0.0
- * @max 1.0
- * @decimal 2
- * @increment 0.01
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f);
-
-/**
- * Proportional gain for vertical position error
- *
- * @min 0.0
- * @max 1.5
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
-
-/**
- * Proportional gain for vertical velocity error
- *
- * defined as correction acceleration in m/s^2 per m/s velocity error
- *
- * @min 2.0
- * @max 15.0
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_Z_VEL_P_ACC, 4.0f);
-
-/**
- * Integral gain for vertical velocity error
- *
- * defined as correction acceleration in m/s^2 per m velocity integral
- *
- * Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
- *
- * @min 0.2
- * @max 3.0
- * @decimal 3
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_Z_VEL_I_ACC, 2.0f);
-
-/**
- * Differential gain for vertical velocity error
- *
- * defined as correction acceleration in m/s^2 per m/s^2 velocity derivative
- *
- * @min 0.0
- * @max 2.0
- * @decimal 3
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_Z_VEL_D_ACC, 0.0f);
-
-/**
- * Automatic ascent velocity
- *
- * Ascent velocity in auto modes.
- * For manual modes and offboard, see MPC_Z_VEL_MAX_UP
- *
- * @unit m/s
- * @min 0.5
- * @max 8.0
- * @increment 0.1
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_UP, 3.f);
-
-/**
- * Maximum ascent velocity
- *
- * Ascent velocity in manual modes and offboard.
- * For auto modes, see MPC_Z_V_AUTO_UP
- *
- * @unit m/s
- * @min 0.5
- * @max 8.0
- * @increment 0.1
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.f);
-
-/**
- * Automatic descent velocity
- *
- * Descent velocity in auto modes.
- * For manual modes and offboard, see MPC_Z_VEL_MAX_DN
- *
- * @unit m/s
- * @min 0.5
- * @max 4.0
- * @increment 0.1
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.5f);
-
-/**
- * Maximum descent velocity
- *
- * Descent velocity in manual modes and offboard.
- * For auto modes, see MPC_Z_V_AUTO_DN
- *
- * @unit m/s
- * @min 0.5
- * @max 4.0
- * @increment 0.1
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.5f);
-
-/**
- * Proportional gain for horizontal position error
- *
- * @min 0.0
- * @max 2.0
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_XY_P, 0.95f);
-
-/**
- * Proportional gain for horizontal velocity error
- *
- * defined as correction acceleration in m/s^2 per m/s velocity error
- *
- * @min 1.2
- * @max 5.0
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_XY_VEL_P_ACC, 1.8f);
-
-/**
- * Integral gain for horizontal velocity error
- *
- * defined as correction acceleration in m/s^2 per m velocity integral
- * Non-zero value allows to eliminate steady state errors in the presence of disturbances like wind.
- *
- * @min 0.0
- * @max 60.0
- * @decimal 3
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_XY_VEL_I_ACC, 0.4f);
-
-/**
- * Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
- *
- * defined as correction acceleration in m/s^2 per m/s^2 velocity derivative
- *
- * @min 0.1
- * @max 2.0
- * @decimal 3
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_XY_VEL_D_ACC, 0.2f);
-
-/**
- * Default horizontal velocity in mission
- *
- * Horizontal velocity used when flying autonomously in e.g. Missions, RTL, Goto.
- *
- * @unit m/s
- * @min 3.0
- * @max 20.0
- * @increment 1
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
-
-/**
- * Proportional gain for horizontal trajectory position error
- *
- * @min 0.1
- * @max 1.0
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.5f);
-
-/**
- * Maximum horizontal error allowed by the trajectory generator
- *
- * The integration speed of the trajectory setpoint is linearly
- * reduced with the horizontal position tracking error. When the
- * error is above this parameter, the integration of the
- * trajectory is stopped to wait for the drone.
- *
- * This value can be adjusted depending on the tracking
- * capabilities of the vehicle.
- *
- * @min 0.1
- * @max 10.0
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.0f);
-
-/**
- * Maximum horizontal velocity setpoint in Position mode
- *
- * If velocity setpoint larger than MPC_XY_VEL_MAX is set, then
- * the setpoint will be capped to MPC_XY_VEL_MAX
- *
- * The maximum sideways and backward speed can be set differently
- * using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively.
- *
- * @unit m/s
- * @min 3.0
- * @max 20.0
- * @increment 1
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_VEL_MANUAL, 10.0f);
-
-/**
- * Maximum sideways velocity in Position mode
- *
- * If set to a negative value or larger than
- * MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.
- *
- * @unit m/s
- * @min -1.0
- * @max 20.0
- * @increment 0.1
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_VEL_MAN_SIDE, -1.0f);
-
-/**
- * Maximum backward velocity in Position mode
- *
- * If set to a negative value or larger than
- * MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.
- *
- * @unit m/s
- * @min -1.0
- * @max 20.0
- * @increment 0.1
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_VEL_MAN_BACK, -1.0f);
-
-/**
- * Maximum horizontal velocity
- *
- * Maximum horizontal velocity in AUTO mode. If higher speeds
- * are commanded in a mission they will be capped to this velocity.
- *
- * @unit m/s
- * @min 0.0
- * @max 20.0
- * @increment 1
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.0f);
-
-/**
- * Maximum tilt angle in air
- *
- * Limits maximum tilt in AUTO and POSCTRL modes during flight.
- *
- * @unit deg
- * @min 20.0
- * @max 89.0
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f);
-
-/**
- * Maximum tilt during landing
- *
- * Limits maximum tilt angle on landing.
- *
- * @unit deg
- * @min 10.0
- * @max 89.0
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.0f);
-
-/**
- * Landing descend rate
- *
- * @unit m/s
- * @min 0.6
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.7f);
-
-/**
- * Land crawl descend rate
- *
- * Used below MPC_LAND_ALT3 if distance sensor data is availabe.
- *
- * @unit m/s
- * @min 0.1
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_LAND_CRWL, 0.3f);
-
-/**
- * Enable user assisted descent for autonomous land routine
- *
- * When enabled, descent speed will be:
- * stick full up - 0
- * stick centered - MPC_LAND_SPEED
- * stick full down - 2 * MPC_LAND_SPEED
- *
- * Additionally, the vehicle can be yawed and moved laterally using the other sticks.
- * Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE).
- *
- * @min 0
- * @max 1
- * @value 0 Fixed descent speed of MPC_LAND_SPEED
- * @value 1 User assisted descent speed
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_INT32(MPC_LAND_RC_HELP, 0);
-
-/**
- * User assisted landing radius
- *
- * When user assisted descent is enabled (see MPC_LAND_RC_HELP),
- * this parameter controls the maximum position adjustment
- * allowed from the original landing point.
- *
- * @unit m
- * @min 0
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_LAND_RADIUS, 1000.f);
-
-/**
- * Takeoff climb rate
- *
- * @unit m/s
- * @min 1
- * @max 5
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f);
-
-/**
- * Maximal tilt angle in manual or altitude mode
- *
- * @unit deg
- * @min 0.0
- * @max 90.0
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_MAN_TILT_MAX, 35.0f);
-
-/**
- * Max manual yaw rate
- *
- * @unit deg/s
- * @min 0.0
- * @max 400
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 150.0f);
-
-/**
- * Manual yaw rate input filter time constant
- *
- * Setting this parameter to 0 disables the filter
- *
- * @unit s
- * @min 0.0
- * @max 5.0
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_MAN_Y_TAU, 0.08f);
-
-/**
- * Deadzone of sticks where position hold is enabled
- *
- * @min 0.0
- * @max 1.0
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_HOLD_DZ, 0.1f);
-
-/**
- * Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
- *
- * @unit m/s
- * @min 0.0
- * @max 3.0
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_XY, 0.8f);
-
-/**
- * Maximum vertical velocity for which position hold is enabled (use 0 to disable check)
- *
- * @unit m/s
- * @min 0.0
- * @max 3.0
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.6f);
-
-/**
- * Low pass filter cut freq. for numerical velocity derivative
- *
- * @unit Hz
- * @min 0.0
- * @max 10
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
-
-/**
- * Maximum horizontal acceleration for auto mode and for manual mode
- *
- * MPC_POS_MODE
- * 1 just deceleration
- * 3 acceleration and deceleration
- * 4 just acceleration
- *
- * @unit m/s^2
- * @min 2.0
- * @max 15.0
- * @increment 1
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f);
-
-/**
- * Acceleration for auto and for manual
- *
- * Note: In manual, this parameter is only used in MPC_POS_MODE 4.
- *
- * @unit m/s^2
- * @min 2.0
- * @max 15.0
- * @increment 1
- * @decimal 2
- * @group Multicopter Position Control
- */
-
-PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f);
-
-/**
- * Maximum vertical acceleration in velocity controlled modes upward
- *
- * @unit m/s^2
- * @min 2.0
- * @max 15.0
- * @increment 1
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 4.0f);
-
-/**
- * Maximum vertical acceleration in velocity controlled modes down
- *
- * @unit m/s^2
- * @min 2.0
- * @max 15.0
- * @increment 1
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.0f);
-
-/**
- * Maximum jerk limit
- *
- * Limit the maximum jerk of the vehicle (how fast the acceleration can change).
- * A lower value leads to smoother vehicle motions, but it also limits its
- * agility (how fast it can change directions or break).
- *
- * Setting this to the maximum value essentially disables the limit.
- *
- * Note: This is only used when MPC_POS_MODE is set to a smoothing mode 3 or 4.
- *
- * @unit m/s^3
- * @min 0.5
- * @max 500.0
- * @increment 1
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 8.0f);
-
-/**
- * Jerk limit in auto mode
- *
- * Limit the maximum jerk of the vehicle (how fast the acceleration can change).
- * A lower value leads to smoother vehicle motions, but it also limits its
- * agility.
- *
- * @unit m/s^3
- * @min 1.0
- * @max 80.0
- * @increment 1
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 4.0f);
-
-/**
- * Altitude control mode.
- *
- * Set to 0 to control height relative to the earth frame origin. This origin may move up and down in
- * flight due to sensor drift.
- * Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down
- * with terrain height variation. Requires a distance to ground sensor. The height controller will
- * revert to using height above origin if the distance to ground estimate becomes invalid as indicated
- * by the local_position.distance_bottom_valid message being false.
- * Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative
- * to earth frame origin when moving horizontally.
- * The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.
- *
- * @min 0
- * @max 2
- * @value 0 Altitude following
- * @value 1 Terrain following
- * @value 2 Terrain hold
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_INT32(MPC_ALT_MODE, 0);
-
-/**
- * Manual position control stick exponential curve sensitivity
- *
- * The higher the value the less sensitivity the stick has around zero
- * while still reaching the maximum value with full stick deflection.
- *
- * 0 Purely linear input curve (default)
- * 1 Purely cubic input curve
- *
- * @min 0
- * @max 1
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_XY_MAN_EXPO, 0.6f);
-
-/**
- * Manual control stick vertical exponential curve
- *
- * The higher the value the less sensitivity the stick has around zero
- * while still reaching the maximum value with full stick deflection.
- *
- * 0 Purely linear input curve (default)
- * 1 Purely cubic input curve
- *
- * @min 0
- * @max 1
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_Z_MAN_EXPO, 0.6f);
-
-/**
- * Manual control stick yaw rotation exponential curve
- *
- * The higher the value the less sensitivity the stick has around zero
- * while still reaching the maximum value with full stick deflection.
- *
- * 0 Purely linear input curve (default)
- * 1 Purely cubic input curve
- *
- * @min 0
- * @max 1
- * @decimal 2
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_YAW_EXPO, 0.6f);
-
-/**
- * Max yaw rate in auto mode
- *
- * Limit the rate of change of the yaw setpoint in autonomous mode
- * to avoid large control output and mixer saturation.
- *
- * @unit deg/s
- * @min 0.0
- * @max 360.0
- * @decimal 1
- * @increment 5
- * @group Multicopter Attitude Control
- */
-PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.0f);
-
-/**
- * Altitude for 1. step of slow landing (descend)
- *
- * Below this altitude descending velocity gets limited to a value
- * between "MPC_Z_VEL_MAX_DN" (or "MPC_Z_V_AUTO_DN") and "MPC_LAND_SPEED"
- * Value needs to be higher than "MPC_LAND_ALT2"
- *
- * @unit m
- * @min 0
- * @max 122
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_LAND_ALT1, 10.0f);
-
-/**
- * Altitude for 2. step of slow landing (landing)
- *
- * Below this altitude descending velocity gets
- * limited to "MPC_LAND_SPEED"
- * Value needs to be lower than "MPC_LAND_ALT1"
- *
- * @unit m
- * @min 0
- * @max 122
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.0f);
-
-/**
- * Altitude for 3. step of slow landing
- *
- * Below this altitude descending velocity gets
- * limited to "MPC_LAND_CRWL", if LIDAR available.
- * No effect if LIDAR not available
- *
- * @unit m
- * @min 0
- * @max 122
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_LAND_ALT3, 1.0f);
-
-/**
- * Position control smooth takeoff ramp time constant
- *
- * Increasing this value will make automatic and manual takeoff slower.
- * If it's too slow the drone might scratch the ground and tip over.
- * A time constant of 0 disables the ramp
- *
- * @min 0
- * @max 5
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 3.0f);
-
-/**
- * Manual-Position control sub-mode
- *
- * The supported sub-modes are:
- * 0 Simple position control where sticks map directly to velocity setpoints
- *   without smoothing. Useful for velocity control tuning.
- * 3 Smooth position control with maximum acceleration and jerk limits based on
- *   jerk optimized trajectory generator (different algorithm than 1).
- * 4 Smooth position control where sticks map to acceleration and there's a virtual brake drag
- *
- * @value 0 Simple position control
- * @value 3 Smooth position control (Jerk optimized)
- * @value 4 Acceleration based input
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_INT32(MPC_POS_MODE, 4);
-
-/**
- * Yaw mode.
- *
- * Specifies the heading in Auto.
- *
- * @min 0
- * @max 4
- * @value 0 towards waypoint
- * @value 1 towards home
- * @value 2 away from home
- * @value 3 along trajectory
- * @value 4 towards waypoint (yaw first)
- * @group Mission
- */
-PARAM_DEFINE_INT32(MPC_YAW_MODE, 0);
-
-/**
- * Responsiveness
- *
- * Changes the overall responsiveness of the vehicle.
- * The higher the value, the faster the vehicle will react.
- *
- * If set to a value greater than zero, other parameters are automatically set (such as
- * the acceleration or jerk limits).
- * If set to a negative value, the existing individual parameters are used.
- *
- * @min -1
- * @max 1
- * @decimal 2
- * @increment 0.05
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(SYS_VEHICLE_RESP, -0.4f);
-
-/**
- * Overall Horizontal Velocity Limit
- *
- * If set to a value greater than zero, other parameters are automatically set (such as
- * MPC_XY_VEL_MAX or MPC_VEL_MANUAL).
- * If set to a negative value, the existing individual parameters are used.
- *
- * @min -20
- * @max 20
- * @decimal 1
- * @increment 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_XY_VEL_ALL, -10.0f);
-
-/**
- * Overall Vertical Velocity Limit
- *
- * If set to a value greater than zero, other parameters are automatically set (such as
- * MPC_Z_VEL_MAX_UP or MPC_LAND_SPEED).
- * If set to a negative value, the existing individual parameters are used.
- *
- * @min -3
- * @max 8
- * @decimal 1
- * @increment 0.5
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_Z_VEL_ALL, -3.0f);
diff --git a/src/modules/mc_pos_control/multicopter_altitude_mode_params.c b/src/modules/mc_pos_control/multicopter_altitude_mode_params.c
new file mode 100644
index 0000000000..0be9a218d0
--- /dev/null
+++ b/src/modules/mc_pos_control/multicopter_altitude_mode_params.c
@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Maximum vertical acceleration in velocity controlled modes upward
+ *
+ * @unit m/s^2
+ * @min 2.0
+ * @max 15.0
+ * @increment 1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 4.0f);
+
+/**
+ * Maximum vertical acceleration in velocity controlled modes down
+ *
+ * @unit m/s^2
+ * @min 2.0
+ * @max 15.0
+ * @increment 1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.0f);
+
+/**
+ * Manual yaw rate input filter time constant
+ *
+ * Setting this parameter to 0 disables the filter
+ *
+ * @unit s
+ * @min 0.0
+ * @max 5.0
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_MAN_Y_TAU, 0.08f);
+
+/**
+ * Altitude control mode.
+ *
+ * Set to 0 to control height relative to the earth frame origin. This origin may move up and down in
+ * flight due to sensor drift.
+ * Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down
+ * with terrain height variation. Requires a distance to ground sensor. The height controller will
+ * revert to using height above origin if the distance to ground estimate becomes invalid as indicated
+ * by the local_position.distance_bottom_valid message being false.
+ * Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative
+ * to earth frame origin when moving horizontally.
+ * The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.
+ *
+ * @min 0
+ * @max 2
+ * @value 0 Altitude following
+ * @value 1 Terrain following
+ * @value 2 Terrain hold
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_INT32(MPC_ALT_MODE, 0);
+
+/**
+ * Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
+ *
+ * @unit m/s
+ * @min 0.0
+ * @max 3.0
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_XY, 0.8f);
+
+/**
+ * Maximum vertical velocity for which position hold is enabled (use 0 to disable check)
+ *
+ * @unit m/s
+ * @min 0.0
+ * @max 3.0
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.6f);
diff --git a/src/modules/mc_pos_control/multicopter_autonomous_params.c b/src/modules/mc_pos_control/multicopter_autonomous_params.c
new file mode 100644
index 0000000000..1a680e0949
--- /dev/null
+++ b/src/modules/mc_pos_control/multicopter_autonomous_params.c
@@ -0,0 +1,166 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Default horizontal velocity in mission
+ *
+ * Horizontal velocity used when flying autonomously in e.g. Missions, RTL, Goto.
+ *
+ * @unit m/s
+ * @min 3.0
+ * @max 20.0
+ * @increment 1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
+
+/**
+ * Automatic ascent velocity
+ *
+ * Ascent velocity in auto modes.
+ * For manual modes and offboard, see MPC_Z_VEL_MAX_UP
+ *
+ * @unit m/s
+ * @min 0.5
+ * @max 8.0
+ * @increment 0.1
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_UP, 3.f);
+
+/**
+ * Automatic descent velocity
+ *
+ * Descent velocity in auto modes.
+ * For manual modes and offboard, see MPC_Z_VEL_MAX_DN
+ *
+ * @unit m/s
+ * @min 0.5
+ * @max 4.0
+ * @increment 0.1
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.5f);
+
+/**
+ * Acceleration for auto and for manual
+ *
+ * Note: In manual, this parameter is only used in MPC_POS_MODE 4.
+ *
+ * @unit m/s^2
+ * @min 2.0
+ * @max 15.0
+ * @increment 1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+
+PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f);
+
+/**
+ * Jerk limit in auto mode
+ *
+ * Limit the maximum jerk of the vehicle (how fast the acceleration can change).
+ * A lower value leads to smoother vehicle motions, but it also limits its
+ * agility.
+ *
+ * @unit m/s^3
+ * @min 1.0
+ * @max 80.0
+ * @increment 1
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 4.0f);
+
+/**
+ * Proportional gain for horizontal trajectory position error
+ *
+ * @min 0.1
+ * @max 1.0
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.5f);
+
+/**
+ * Maximum horizontal error allowed by the trajectory generator
+ *
+ * The integration speed of the trajectory setpoint is linearly
+ * reduced with the horizontal position tracking error. When the
+ * error is above this parameter, the integration of the
+ * trajectory is stopped to wait for the drone.
+ *
+ * This value can be adjusted depending on the tracking
+ * capabilities of the vehicle.
+ *
+ * @min 0.1
+ * @max 10.0
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.0f);
+
+/**
+ * Max yaw rate in auto mode
+ *
+ * Limit the rate of change of the yaw setpoint in autonomous mode
+ * to avoid large control output and mixer saturation.
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @max 360.0
+ * @decimal 1
+ * @increment 5
+ * @group Multicopter Attitude Control
+ */
+PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.0f);
+
+/**
+ * Yaw mode.
+ *
+ * Specifies the heading in Auto.
+ *
+ * @min 0
+ * @max 4
+ * @value 0 towards waypoint
+ * @value 1 towards home
+ * @value 2 away from home
+ * @value 3 along trajectory
+ * @value 4 towards waypoint (yaw first)
+ * @group Mission
+ */
+PARAM_DEFINE_INT32(MPC_YAW_MODE, 0);
diff --git a/src/modules/mc_pos_control/multicopter_nudging_params.c b/src/modules/mc_pos_control/multicopter_nudging_params.c
new file mode 100644
index 0000000000..c6f7f52f1f
--- /dev/null
+++ b/src/modules/mc_pos_control/multicopter_nudging_params.c
@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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 user assisted descent for autonomous land routine
+ *
+ * When enabled, descent speed will be:
+ * stick full up - 0
+ * stick centered - MPC_LAND_SPEED
+ * stick full down - 2 * MPC_LAND_SPEED
+ *
+ * Additionally, the vehicle can be yawed and moved laterally using the other sticks.
+ * Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE).
+ *
+ * @min 0
+ * @max 1
+ * @value 0 Fixed descent speed of MPC_LAND_SPEED
+ * @value 1 User assisted descent speed
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_INT32(MPC_LAND_RC_HELP, 0);
+
+/**
+ * User assisted landing radius
+ *
+ * When user assisted descent is enabled (see MPC_LAND_RC_HELP),
+ * this parameter controls the maximum position adjustment
+ * allowed from the original landing point.
+ *
+ * @unit m
+ * @min 0
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_LAND_RADIUS, 1000.f);
diff --git a/src/modules/mc_pos_control/multicopter_position_control_gain_params.c b/src/modules/mc_pos_control/multicopter_position_control_gain_params.c
new file mode 100644
index 0000000000..ff1ffbff13
--- /dev/null
+++ b/src/modules/mc_pos_control/multicopter_position_control_gain_params.c
@@ -0,0 +1,127 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Proportional gain for vertical position error
+ *
+ * @min 0.0
+ * @max 1.5
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
+
+/**
+ * Proportional gain for horizontal position error
+ *
+ * @min 0.0
+ * @max 2.0
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_XY_P, 0.95f);
+
+/**
+ * Proportional gain for vertical velocity error
+ *
+ * defined as correction acceleration in m/s^2 per m/s velocity error
+ *
+ * @min 2.0
+ * @max 15.0
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_P_ACC, 4.0f);
+
+/**
+ * Proportional gain for horizontal velocity error
+ *
+ * defined as correction acceleration in m/s^2 per m/s velocity error
+ *
+ * @min 1.2
+ * @max 5.0
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_XY_VEL_P_ACC, 1.8f);
+
+/**
+ * Integral gain for vertical velocity error
+ *
+ * defined as correction acceleration in m/s^2 per m velocity integral
+ *
+ * Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
+ *
+ * @min 0.2
+ * @max 3.0
+ * @decimal 3
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_I_ACC, 2.0f);
+
+/**
+ * Integral gain for horizontal velocity error
+ *
+ * defined as correction acceleration in m/s^2 per m velocity integral
+ * Non-zero value allows to eliminate steady state errors in the presence of disturbances like wind.
+ *
+ * @min 0.0
+ * @max 60.0
+ * @decimal 3
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_XY_VEL_I_ACC, 0.4f);
+
+/**
+ * Differential gain for vertical velocity error
+ *
+ * defined as correction acceleration in m/s^2 per m/s^2 velocity derivative
+ *
+ * @min 0.0
+ * @max 2.0
+ * @decimal 3
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_D_ACC, 0.0f);
+
+/**
+ * Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ *
+ * defined as correction acceleration in m/s^2 per m/s^2 velocity derivative
+ *
+ * @min 0.1
+ * @max 2.0
+ * @decimal 3
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_XY_VEL_D_ACC, 0.2f);
diff --git a/src/modules/mc_pos_control/multicopter_position_control_limits_params.c b/src/modules/mc_pos_control/multicopter_position_control_limits_params.c
new file mode 100644
index 0000000000..2129af6ba8
--- /dev/null
+++ b/src/modules/mc_pos_control/multicopter_position_control_limits_params.c
@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Maximum horizontal velocity
+ *
+ * Maximum horizontal velocity in AUTO mode. If higher speeds
+ * are commanded in a mission they will be capped to this velocity.
+ *
+ * @unit m/s
+ * @min 0.0
+ * @max 20.0
+ * @increment 1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.0f);
+
+/**
+ * Maximum tilt angle in air
+ *
+ * Limits maximum tilt in AUTO and POSCTRL modes during flight.
+ *
+ * @unit deg
+ * @min 20.0
+ * @max 89.0
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f);
+
+/**
+ * Maximum tilt during landing
+ *
+ * Limits maximum tilt angle on landing.
+ *
+ * @unit deg
+ * @min 10.0
+ * @max 89.0
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.0f);
+
+/**
+ * Minimum collective thrust in auto thrust control
+ *
+ * It's recommended to set it > 0 to avoid free fall with zero thrust.
+ * Note: Without airmode zero thrust leads to zero roll/pitch control authority. (see MC_AIRMODE)
+ *
+ * @unit norm
+ * @min 0.05
+ * @max 1.0
+ * @decimal 2
+ * @increment 0.01
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
+
+/**
+ * Maximum thrust in auto thrust control
+ *
+ * Limit max allowed thrust
+ *
+ * @unit norm
+ * @min 0.0
+ * @max 1.0
+ * @decimal 2
+ * @increment 0.01
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
diff --git a/src/modules/mc_pos_control/multicopter_position_control_params.c b/src/modules/mc_pos_control/multicopter_position_control_params.c
new file mode 100644
index 0000000000..9109c3142a
--- /dev/null
+++ b/src/modules/mc_pos_control/multicopter_position_control_params.c
@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Hover thrust
+ *
+ * Vertical thrust required to hover.
+ * This value is mapped to center stick for manual throttle control.
+ * With this value set to the thrust required to hover, transition
+ * from manual to Altitude or Position mode while hovering will occur with the
+ * throttle stick near center, which is then interpreted as (near)
+ * zero demand for vertical speed.
+ *
+ * This parameter is also important for the landing detection to work correctly.
+ *
+ * @unit norm
+ * @min 0.1
+ * @max 0.8
+ * @decimal 2
+ * @increment 0.01
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f);
+
+/**
+ * Hover thrust source selector
+ *
+ * Set false to use the fixed parameter MPC_THR_HOVER
+ * Set true to use the value computed by the hover thrust estimator
+ *
+ * @boolean
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_INT32(MPC_USE_HTE, 1);
+
+/**
+ * Horizontal thrust margin
+ *
+ * Margin that is kept for horizontal control when prioritizing vertical thrust.
+ * To avoid completely starving horizontal control with high vertical error.
+ *
+ * @unit norm
+ * @min 0.0
+ * @max 0.5
+ * @decimal 2
+ * @increment 0.01
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_THR_XY_MARG, 0.3f);
+
+/**
+ * Low pass filter cut freq. for numerical velocity derivative
+ *
+ * @unit Hz
+ * @min 0.0
+ * @max 10
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
diff --git a/src/modules/mc_pos_control/multicopter_position_mode_params.c b/src/modules/mc_pos_control/multicopter_position_mode_params.c
new file mode 100644
index 0000000000..32386559de
--- /dev/null
+++ b/src/modules/mc_pos_control/multicopter_position_mode_params.c
@@ -0,0 +1,222 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Manual-Position control sub-mode
+ *
+ * The supported sub-modes are:
+ * 0 Simple position control where sticks map directly to velocity setpoints
+ *   without smoothing. Useful for velocity control tuning.
+ * 3 Smooth position control with maximum acceleration and jerk limits based on
+ *   jerk optimized trajectory generator (different algorithm than 1).
+ * 4 Smooth position control where sticks map to acceleration and there's a virtual brake drag
+ *
+ * @value 0 Simple position control
+ * @value 3 Smooth position control (Jerk optimized)
+ * @value 4 Acceleration based input
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_INT32(MPC_POS_MODE, 4);
+
+/**
+ * Maximum horizontal velocity setpoint in Position mode
+ *
+ * If velocity setpoint larger than MPC_XY_VEL_MAX is set, then
+ * the setpoint will be capped to MPC_XY_VEL_MAX
+ *
+ * The maximum sideways and backward speed can be set differently
+ * using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively.
+ *
+ * @unit m/s
+ * @min 3.0
+ * @max 20.0
+ * @increment 1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_VEL_MANUAL, 10.0f);
+
+/**
+ * Maximum sideways velocity in Position mode
+ *
+ * If set to a negative value or larger than
+ * MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.
+ *
+ * @unit m/s
+ * @min -1.0
+ * @max 20.0
+ * @increment 0.1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_VEL_MAN_SIDE, -1.0f);
+
+/**
+ * Maximum backward velocity in Position mode
+ *
+ * If set to a negative value or larger than
+ * MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.
+ *
+ * @unit m/s
+ * @min -1.0
+ * @max 20.0
+ * @increment 0.1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_VEL_MAN_BACK, -1.0f);
+
+/**
+ * Maximum ascent velocity
+ *
+ * Ascent velocity in manual modes and offboard.
+ * For auto modes, see MPC_Z_V_AUTO_UP
+ *
+ * @unit m/s
+ * @min 0.5
+ * @max 8.0
+ * @increment 0.1
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.f);
+
+/**
+ * Maximum descent velocity
+ *
+ * Descent velocity in manual modes and offboard.
+ * For auto modes, see MPC_Z_V_AUTO_DN
+ *
+ * @unit m/s
+ * @min 0.5
+ * @max 4.0
+ * @increment 0.1
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.5f);
+
+/**
+ * Maximum horizontal acceleration for auto mode and for manual mode
+ *
+ * MPC_POS_MODE
+ * 1 just deceleration
+ * 3 acceleration and deceleration
+ * 4 just acceleration
+ *
+ * @unit m/s^2
+ * @min 2.0
+ * @max 15.0
+ * @increment 1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f);
+
+/**
+ * Maximum jerk limit
+ *
+ * Limit the maximum jerk of the vehicle (how fast the acceleration can change).
+ * A lower value leads to smoother vehicle motions, but it also limits its
+ * agility (how fast it can change directions or break).
+ *
+ * Setting this to the maximum value essentially disables the limit.
+ *
+ * Note: This is only used when MPC_POS_MODE is set to a smoothing mode 3 or 4.
+ *
+ * @unit m/s^3
+ * @min 0.5
+ * @max 500.0
+ * @increment 1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 8.0f);
+
+/**
+ * Deadzone of sticks where position hold is enabled
+ *
+ * @min 0.0
+ * @max 1.0
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_HOLD_DZ, 0.1f);
+
+/**
+ * Manual position control stick exponential curve sensitivity
+ *
+ * The higher the value the less sensitivity the stick has around zero
+ * while still reaching the maximum value with full stick deflection.
+ *
+ * 0 Purely linear input curve (default)
+ * 1 Purely cubic input curve
+ *
+ * @min 0
+ * @max 1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_XY_MAN_EXPO, 0.6f);
+
+/**
+ * Manual control stick vertical exponential curve
+ *
+ * The higher the value the less sensitivity the stick has around zero
+ * while still reaching the maximum value with full stick deflection.
+ *
+ * 0 Purely linear input curve (default)
+ * 1 Purely cubic input curve
+ *
+ * @min 0
+ * @max 1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_Z_MAN_EXPO, 0.6f);
+
+/**
+ * Manual control stick yaw rotation exponential curve
+ *
+ * The higher the value the less sensitivity the stick has around zero
+ * while still reaching the maximum value with full stick deflection.
+ *
+ * 0 Purely linear input curve (default)
+ * 1 Purely cubic input curve
+ *
+ * @min 0
+ * @max 1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_YAW_EXPO, 0.6f);
diff --git a/src/modules/mc_pos_control/multicopter_responsiveness_params.c b/src/modules/mc_pos_control/multicopter_responsiveness_params.c
new file mode 100644
index 0000000000..896ebcd981
--- /dev/null
+++ b/src/modules/mc_pos_control/multicopter_responsiveness_params.c
@@ -0,0 +1,80 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Responsiveness
+ *
+ * Changes the overall responsiveness of the vehicle.
+ * The higher the value, the faster the vehicle will react.
+ *
+ * If set to a value greater than zero, other parameters are automatically set (such as
+ * the acceleration or jerk limits).
+ * If set to a negative value, the existing individual parameters are used.
+ *
+ * @min -1
+ * @max 1
+ * @decimal 2
+ * @increment 0.05
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(SYS_VEHICLE_RESP, -0.4f);
+
+/**
+ * Overall Horizontal Velocity Limit
+ *
+ * If set to a value greater than zero, other parameters are automatically set (such as
+ * MPC_XY_VEL_MAX or MPC_VEL_MANUAL).
+ * If set to a negative value, the existing individual parameters are used.
+ *
+ * @min -20
+ * @max 20
+ * @decimal 1
+ * @increment 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_XY_VEL_ALL, -10.0f);
+
+/**
+ * Overall Vertical Velocity Limit
+ *
+ * If set to a value greater than zero, other parameters are automatically set (such as
+ * MPC_Z_VEL_MAX_UP or MPC_LAND_SPEED).
+ * If set to a negative value, the existing individual parameters are used.
+ *
+ * @min -3
+ * @max 8
+ * @decimal 1
+ * @increment 0.5
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_ALL, -3.0f);
diff --git a/src/modules/mc_pos_control/multicopter_stabilized_mode_params.c b/src/modules/mc_pos_control/multicopter_stabilized_mode_params.c
new file mode 100644
index 0000000000..48b30de9f2
--- /dev/null
+++ b/src/modules/mc_pos_control/multicopter_stabilized_mode_params.c
@@ -0,0 +1,91 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Maximal tilt angle in manual or altitude mode
+ *
+ * @unit deg
+ * @min 0.0
+ * @max 90.0
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_MAN_TILT_MAX, 35.0f);
+
+/**
+ * Max manual yaw rate
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @max 400
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 150.0f);
+
+/**
+ * Minimum manual thrust
+ *
+ * Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
+ * With MC_AIRMODE set to 1, this can safely be set to 0.
+ *
+ * @unit norm
+ * @min 0.0
+ * @max 1.0
+ * @decimal 2
+ * @increment 0.01
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f);
+
+/**
+ * Thrust curve in Manual Mode
+ *
+ * This parameter defines how the throttle stick input is mapped to commanded thrust
+ * in Manual/Stabilized flight mode.
+ *
+ * In case the default is used ('Rescale to hover thrust'), the stick input is linearly
+ * rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER).
+ *
+ * Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful
+ * in case the hover thrust is very low and the default would lead to too much distortion
+ * (e.g. if hover thrust is set to 20%, 80% of the upper thrust range is squeezed into the
+ * upper half of the stick range).
+ *
+ * Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.
+ *
+ * @value 0 Rescale to hover thrust
+ * @value 1 No Rescale
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_INT32(MPC_THR_CURVE, 0);
diff --git a/src/modules/mc_pos_control/multicopter_takeoff_land_params.c b/src/modules/mc_pos_control/multicopter_takeoff_land_params.c
new file mode 100644
index 0000000000..865112eada
--- /dev/null
+++ b/src/modules/mc_pos_control/multicopter_takeoff_land_params.c
@@ -0,0 +1,123 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Position control smooth takeoff ramp time constant
+ *
+ * Increasing this value will make automatic and manual takeoff slower.
+ * If it's too slow the drone might scratch the ground and tip over.
+ * A time constant of 0 disables the ramp
+ *
+ * @min 0
+ * @max 5
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 3.0f);
+
+/**
+ * Takeoff climb rate
+ *
+ * @unit m/s
+ * @min 1
+ * @max 5
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f);
+
+/**
+ * Altitude for 1. step of slow landing (descend)
+ *
+ * Below this altitude descending velocity gets limited to a value
+ * between "MPC_Z_VEL_MAX_DN" (or "MPC_Z_V_AUTO_DN") and "MPC_LAND_SPEED"
+ * Value needs to be higher than "MPC_LAND_ALT2"
+ *
+ * @unit m
+ * @min 0
+ * @max 122
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_LAND_ALT1, 10.0f);
+
+/**
+ * Altitude for 2. step of slow landing (landing)
+ *
+ * Below this altitude descending velocity gets
+ * limited to "MPC_LAND_SPEED"
+ * Value needs to be lower than "MPC_LAND_ALT1"
+ *
+ * @unit m
+ * @min 0
+ * @max 122
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.0f);
+
+/**
+ * Altitude for 3. step of slow landing
+ *
+ * Below this altitude descending velocity gets
+ * limited to "MPC_LAND_CRWL", if LIDAR available.
+ * No effect if LIDAR not available
+ *
+ * @unit m
+ * @min 0
+ * @max 122
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_LAND_ALT3, 1.0f);
+
+/**
+ * Landing descend rate
+ *
+ * @unit m/s
+ * @min 0.6
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.7f);
+
+/**
+ * Land crawl descend rate
+ *
+ * Used below MPC_LAND_ALT3 if distance sensor data is availabe.
+ *
+ * @unit m/s
+ * @min 0.1
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_LAND_CRWL, 0.3f);