diff --git a/src/modules/manual_control/CMakeLists.txt b/src/modules/manual_control/CMakeLists.txt
index 279d9e8993..d51a711421 100644
--- a/src/modules/manual_control/CMakeLists.txt
+++ b/src/modules/manual_control/CMakeLists.txt
@@ -41,6 +41,8 @@ px4_add_module(
 		ManualControl.hpp
 		ManualControlSelector.hpp
 		ManualControlSelector.cpp
+	MODULE_CONFIG
+		manual_control_params.yaml
 	DEPENDS
 		hysteresis
 		px4_work_queue
diff --git a/src/modules/manual_control/manual_control_params.c b/src/modules/manual_control/manual_control_params.c
deleted file mode 100644
index 30bfa35b4c..0000000000
--- a/src/modules/manual_control/manual_control_params.c
+++ /dev/null
@@ -1,77 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 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 arm/disarm stick gesture
- *
- * This determines if moving the left stick to the lower right
- * arms and to the lower left disarms the vehicle.
- *
- * @boolean
- * @group Manual Control
- */
-PARAM_DEFINE_INT32(MAN_ARM_GESTURE, 1);
-
-/**
- * Trigger time for kill stick gesture
- *
- * The timeout for holding the left stick to the lower left
- * and the right stick to the lower right at the same time until the gesture
- * kills the actuators one-way.
- *
- * A negative value disables the feature.
- *
- * @group Manual Control
- * @unit s
- * @decimal 2
- * @min -1
- * @max 15
- */
-PARAM_DEFINE_FLOAT(MAN_KILL_GEST_T, -1.f);
-
-/**
- * Deadzone for sticks (only specific use cases)
- *
- * Range around stick center ignored to prevent
- * vehicle drift from stick hardware inaccuracy.
- *
- * Does not apply to any precise constant input like
- * throttle and attitude or rate piloting.
- *
- * @min 0
- * @max 1
- * @decimal 2
- * @increment 0.01
- * @group Manual Control
- */
-PARAM_DEFINE_FLOAT(MAN_DEADZONE, 0.1f);
diff --git a/src/modules/manual_control/manual_control_params.yaml b/src/modules/manual_control/manual_control_params.yaml
new file mode 100644
index 0000000000..4885788268
--- /dev/null
+++ b/src/modules/manual_control/manual_control_params.yaml
@@ -0,0 +1,42 @@
+module_name: manual_control
+parameters:
+- group: Manual Control
+  definitions:
+    MAN_ARM_GESTURE:
+      description:
+        short: Enable arm/disarm stick gesture
+        long: |-
+          This determines if moving the left stick to the lower right
+          arms and to the lower left disarms the vehicle.
+      type: boolean
+      default: 1
+    MAN_KILL_GEST_T:
+      description:
+        short: Trigger time for kill stick gesture
+        long: |-
+          The timeout for holding the left stick to the lower left
+          and the right stick to the lower right at the same time until the gesture
+          kills the actuators one-way.
+
+          A negative value disables the feature.
+      type: float
+      default: -1.0
+      unit: s
+      decimal: 2
+      min: -1
+      max: 15
+    MAN_DEADZONE:
+      description:
+        short: Deadzone for sticks (only specific use cases)
+        long: |-
+          Range around stick center ignored to prevent
+          vehicle drift from stick hardware inaccuracy.
+
+          Does not apply to any precise constant input like
+          throttle and attitude or rate piloting.
+      type: float
+      default: 0.1
+      min: 0
+      max: 1
+      decimal: 2
+      increment: 0.01