diff --git a/src/modules/mc_autotune_attitude_control/CMakeLists.txt b/src/modules/mc_autotune_attitude_control/CMakeLists.txt
index 62dfc9ca3c..a1b0fee33e 100644
--- a/src/modules/mc_autotune_attitude_control/CMakeLists.txt
+++ b/src/modules/mc_autotune_attitude_control/CMakeLists.txt
@@ -39,6 +39,8 @@ px4_add_module(
 	SRCS
 		mc_autotune_attitude_control.cpp
 		mc_autotune_attitude_control.hpp
+	MODULE_CONFIG
+		mc_autotune_attitude_control_params.yaml
 	DEPENDS
 		hysteresis
 		mathlib
diff --git a/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control_params.c b/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control_params.c
deleted file mode 100644
index c2df3fd8f6..0000000000
--- a/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control_params.c
+++ /dev/null
@@ -1,88 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020-2021 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.
- *
- ****************************************************************************/
-
-/**
- * @file mc_autotune_attitude_control_params.c
- *
- * Parameters used by the attitude auto-tuner
- *
- * @author Mathieu Bresciani <mathieu@auterion.com>
- */
-
-/**
- * Multicopter autotune module enable
- *
- * @boolean
- * @group Autotune
- */
-PARAM_DEFINE_INT32(MC_AT_EN, 0);
-
-
-/**
- * Amplitude of the injected signal
- *
- * @min 0.1
- * @max 6.0
- * @decimal 1
- * @group Autotune
- */
-PARAM_DEFINE_FLOAT(MC_AT_SYSID_AMP, 0.7);
-
-/**
- * Controls when to apply the new gains
- *
- * After the auto-tuning sequence is completed,
- * a new set of gains is available and can be applied
- * immediately or after landing.
- *
- * WARNING Applying the gains in air is dangerous as there is no
- * guarantee that those new gains will be able to stabilize
- * the drone properly.
- *
- * @value 0 Do not apply the new gains (logging only)
- * @value 1 Apply the new gains after disarm
- * @value 2 WARNING Apply the new gains in air
- * @group Autotune
- */
-PARAM_DEFINE_INT32(MC_AT_APPLY, 1);
-
-/**
- * Desired angular rate closed-loop rise time
- *
- * @min 0.01
- * @max 0.5
- * @decimal 2
- * @unit s
- * @group Autotune
- */
-PARAM_DEFINE_FLOAT(MC_AT_RISE_TIME, 0.14);
diff --git a/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control_params.yaml b/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control_params.yaml
new file mode 100644
index 0000000000..c971f0f600
--- /dev/null
+++ b/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control_params.yaml
@@ -0,0 +1,43 @@
+module_name: mc_autotune_attitude_control
+parameters:
+- group: Autotune
+  definitions:
+    MC_AT_EN:
+      description:
+        short: Multicopter autotune module enable
+      type: boolean
+      default: 0
+    MC_AT_SYSID_AMP:
+      description:
+        short: Amplitude of the injected signal
+      type: float
+      default: 0.7
+      min: 0.1
+      max: 6.0
+      decimal: 1
+    MC_AT_APPLY:
+      description:
+        short: Controls when to apply the new gains
+        long: |-
+          After the auto-tuning sequence is completed,
+          a new set of gains is available and can be applied
+          immediately or after landing.
+
+          WARNING Applying the gains in air is dangerous as there is no
+          guarantee that those new gains will be able to stabilize
+          the drone properly.
+      type: enum
+      values:
+        0: Do not apply the new gains (logging only)
+        1: Apply the new gains after disarm
+        2: WARNING Apply the new gains in air
+      default: 1
+    MC_AT_RISE_TIME:
+      description:
+        short: Desired angular rate closed-loop rise time
+      type: float
+      default: 0.14
+      min: 0.01
+      max: 0.5
+      decimal: 2
+      unit: s