diff --git a/src/drivers/distance_sensor/mb12xx/CMakeLists.txt b/src/drivers/distance_sensor/mb12xx/CMakeLists.txt
index 6413710a330..8a2648aa6fd 100644
--- a/src/drivers/distance_sensor/mb12xx/CMakeLists.txt
+++ b/src/drivers/distance_sensor/mb12xx/CMakeLists.txt
@@ -37,6 +37,8 @@ px4_add_module(
 		-Wno-cast-align # TODO: fix and enable
 	SRCS
 		mb12xx.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		drivers_rangefinder
 	)
diff --git a/src/drivers/distance_sensor/mb12xx/parameters.c b/src/drivers/distance_sensor/mb12xx/parameters.c
deleted file mode 100644
index 9974a8548ec..00000000000
--- a/src/drivers/distance_sensor/mb12xx/parameters.c
+++ /dev/null
@@ -1,294 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2017 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.
- *
- ****************************************************************************/
-
-/**
- * Maxbotix Sonar (mb12xx)
- *
- * @reboot_required true
- *
- * @boolean
- * @group Sensors
- */
-PARAM_DEFINE_INT32(SENS_EN_MB12XX, 0);
-
-/**
- * MaxBotix MB12XX Sensor 0 Rotation
- *
- * This parameter defines the rotation of the sensor relative to the platform.
- *
- * @reboot_required true
- * @min 0
- * @max 7
- * @group Sensors
- *
- * @value 0 No rotation
- * @value 1 Yaw 45°
- * @value 2 Yaw 90°
- * @value 3 Yaw 135°
- * @value 4 Yaw 180°
- * @value 5 Yaw 225°
- * @value 6 Yaw 270°
- * @value 7 Yaw 315°
- */
-PARAM_DEFINE_INT32(SENS_MB12_0_ROT, 0);
-
-/**
- * MaxBotix MB12XX Sensor 1 Rotation
- *
- * This parameter defines the rotation of the sensor relative to the platform.
- *
- * @reboot_required true
- * @min 0
- * @max 7
- * @group Sensors
- *
- * @value 0 No rotation
- * @value 1 Yaw 45°
- * @value 2 Yaw 90°
- * @value 3 Yaw 135°
- * @value 4 Yaw 180°
- * @value 5 Yaw 225°
- * @value 6 Yaw 270°
- * @value 7 Yaw 315°
- */
-PARAM_DEFINE_INT32(SENS_MB12_1_ROT, 0);
-
-/**
- * MaxBotix MB12XX Sensor 2 Rotation
- *
- * This parameter defines the rotation of the sensor relative to the platform.
- *
- * @reboot_required true
- * @min 0
- * @max 7
- * @group Sensors
- *
- * @value 0 No rotation
- * @value 1 Yaw 45°
- * @value 2 Yaw 90°
- * @value 3 Yaw 135°
- * @value 4 Yaw 180°
- * @value 5 Yaw 225°
- * @value 6 Yaw 270°
- * @value 7 Yaw 315°
- */
-PARAM_DEFINE_INT32(SENS_MB12_2_ROT, 0);
-
-/**
- * MaxBotix MB12XX Sensor 3 Rotation
- *
- * This parameter defines the rotation of the sensor relative to the platform.
- *
- * @reboot_required true
- * @min 0
- * @max 7
- * @group Sensors
- *
- * @value 0 No rotation
- * @value 1 Yaw 45°
- * @value 2 Yaw 90°
- * @value 3 Yaw 135°
- * @value 4 Yaw 180°
- * @value 5 Yaw 225°
- * @value 6 Yaw 270°
- * @value 7 Yaw 315°
- */
-PARAM_DEFINE_INT32(SENS_MB12_3_ROT, 0);
-
-/**
- * MaxBotix MB12XX Sensor 4 Rotation
- *
- * This parameter defines the rotation of the sensor relative to the platform.
- *
- * @reboot_required true
- * @min 0
- * @max 7
- * @group Sensors
- *
- * @value 0 No rotation
- * @value 1 Yaw 45°
- * @value 2 Yaw 90°
- * @value 3 Yaw 135°
- * @value 4 Yaw 180°
- * @value 5 Yaw 225°
- * @value 6 Yaw 270°
- * @value 7 Yaw 315°
- */
-PARAM_DEFINE_INT32(SENS_MB12_4_ROT, 0);
-
-/**
- * MaxBotix MB12XX Sensor 5 Rotation
- *
- * This parameter defines the rotation of the sensor relative to the platform.
- *
- * @reboot_required true
- * @min 0
- * @max 7
- * @group Sensors
- *
- * @value 0 No rotation
- * @value 1 Yaw 45°
- * @value 2 Yaw 90°
- * @value 3 Yaw 135°
- * @value 4 Yaw 180°
- * @value 5 Yaw 225°
- * @value 6 Yaw 270°
- * @value 7 Yaw 315°
- */
-PARAM_DEFINE_INT32(SENS_MB12_5_ROT, 0);
-
-/**
- * MaxBotix MB12XX Sensor 6 Rotation
- *
- * This parameter defines the rotation of the sensor relative to the platform.
- *
- * @reboot_required true
- * @min 0
- * @max 7
- * @group Sensors
- *
- * @value 0 No rotation
- * @value 1 Yaw 45°
- * @value 2 Yaw 90°
- * @value 3 Yaw 135°
- * @value 4 Yaw 180°
- * @value 5 Yaw 225°
- * @value 6 Yaw 270°
- * @value 7 Yaw 315°
- */
-PARAM_DEFINE_INT32(SENS_MB12_6_ROT, 0);
-
-/**
- * MaxBotix MB12XX Sensor 7 Rotation
- *
- * This parameter defines the rotation of the sensor relative to the platform.
- *
- * @reboot_required true
- * @min 0
- * @max 7
- * @group Sensors
- *
- * @value 0 No rotation
- * @value 1 Yaw 45°
- * @value 2 Yaw 90°
- * @value 3 Yaw 135°
- * @value 4 Yaw 180°
- * @value 5 Yaw 225°
- * @value 6 Yaw 270°
- * @value 7 Yaw 315°
- */
-PARAM_DEFINE_INT32(SENS_MB12_7_ROT, 0);
-
-/**
- * MaxBotix MB12XX Sensor 8 Rotation
- *
- * This parameter defines the rotation of the sensor relative to the platform.
- *
- * @reboot_required true
- * @min 0
- * @max 7
- * @group Sensors
- *
- * @value 0 No rotation
- * @value 1 Yaw 45°
- * @value 2 Yaw 90°
- * @value 3 Yaw 135°
- * @value 4 Yaw 180°
- * @value 5 Yaw 225°
- * @value 6 Yaw 270°
- * @value 7 Yaw 315°
- */
-PARAM_DEFINE_INT32(SENS_MB12_8_ROT, 0);
-
-/**
- * MaxBotix MB12XX Sensor 9 Rotation
- *
- * This parameter defines the rotation of the sensor relative to the platform.
- *
- * @reboot_required true
- * @min 0
- * @max 7
- * @group Sensors
- *
- * @value 0 No rotation
- * @value 1 Yaw 45°
- * @value 2 Yaw 90°
- * @value 3 Yaw 135°
- * @value 4 Yaw 180°
- * @value 5 Yaw 225°
- * @value 6 Yaw 270°
- * @value 7 Yaw 315°
- */
-PARAM_DEFINE_INT32(SENS_MB12_9_ROT, 0);
-
-/**
- * MaxBotix MB12XX Sensor 10 Rotation
- *
- * This parameter defines the rotation of the sensor relative to the platform.
- *
- * @reboot_required true
- * @min 0
- * @max 7
- * @group Sensors
- *
- * @value 0 No rotation
- * @value 1 Yaw 45°
- * @value 2 Yaw 90°
- * @value 3 Yaw 135°
- * @value 4 Yaw 180°
- * @value 5 Yaw 225°
- * @value 6 Yaw 270°
- * @value 7 Yaw 315°
- */
-PARAM_DEFINE_INT32(SENS_MB12_10_ROT, 0);
-
-/**
- * MaxBotix MB12XX Sensor 12 Rotation
- *
- * This parameter defines the rotation of the sensor relative to the platform.
- *
- * @reboot_required true
- * @min 0
- * @max 7
- * @group Sensors
- *
- * @value 0 No rotation
- * @value 1 Yaw 45°
- * @value 2 Yaw 90°
- * @value 3 Yaw 135°
- * @value 4 Yaw 180°
- * @value 5 Yaw 225°
- * @value 6 Yaw 270°
- * @value 7 Yaw 315°
- */
-PARAM_DEFINE_INT32(SENS_MB12_11_ROT, 0);
diff --git a/src/drivers/distance_sensor/mb12xx/parameters.yaml b/src/drivers/distance_sensor/mb12xx/parameters.yaml
new file mode 100644
index 00000000000..7279e5740f0
--- /dev/null
+++ b/src/drivers/distance_sensor/mb12xx/parameters.yaml
@@ -0,0 +1,226 @@
+module_name: mb12xx
+parameters:
+- group: Sensors
+  definitions:
+    SENS_EN_MB12XX:
+      description:
+        short: Maxbotix Sonar (mb12xx)
+      type: boolean
+      default: 0
+      reboot_required: true
+    SENS_MB12_0_ROT:
+      description:
+        short: MaxBotix MB12XX Sensor 0 Rotation
+        long: This parameter defines the rotation of the sensor relative to the platform.
+      type: enum
+      values:
+        0: No rotation
+        1: "Yaw 45\xB0"
+        2: "Yaw 90\xB0"
+        3: "Yaw 135\xB0"
+        4: "Yaw 180\xB0"
+        5: "Yaw 225\xB0"
+        6: "Yaw 270\xB0"
+        7: "Yaw 315\xB0"
+      default: 0
+      reboot_required: true
+      min: 0
+      max: 7
+    SENS_MB12_1_ROT:
+      description:
+        short: MaxBotix MB12XX Sensor 1 Rotation
+        long: This parameter defines the rotation of the sensor relative to the platform.
+      type: enum
+      values:
+        0: No rotation
+        1: "Yaw 45\xB0"
+        2: "Yaw 90\xB0"
+        3: "Yaw 135\xB0"
+        4: "Yaw 180\xB0"
+        5: "Yaw 225\xB0"
+        6: "Yaw 270\xB0"
+        7: "Yaw 315\xB0"
+      default: 0
+      reboot_required: true
+      min: 0
+      max: 7
+    SENS_MB12_2_ROT:
+      description:
+        short: MaxBotix MB12XX Sensor 2 Rotation
+        long: This parameter defines the rotation of the sensor relative to the platform.
+      type: enum
+      values:
+        0: No rotation
+        1: "Yaw 45\xB0"
+        2: "Yaw 90\xB0"
+        3: "Yaw 135\xB0"
+        4: "Yaw 180\xB0"
+        5: "Yaw 225\xB0"
+        6: "Yaw 270\xB0"
+        7: "Yaw 315\xB0"
+      default: 0
+      reboot_required: true
+      min: 0
+      max: 7
+    SENS_MB12_3_ROT:
+      description:
+        short: MaxBotix MB12XX Sensor 3 Rotation
+        long: This parameter defines the rotation of the sensor relative to the platform.
+      type: enum
+      values:
+        0: No rotation
+        1: "Yaw 45\xB0"
+        2: "Yaw 90\xB0"
+        3: "Yaw 135\xB0"
+        4: "Yaw 180\xB0"
+        5: "Yaw 225\xB0"
+        6: "Yaw 270\xB0"
+        7: "Yaw 315\xB0"
+      default: 0
+      reboot_required: true
+      min: 0
+      max: 7
+    SENS_MB12_4_ROT:
+      description:
+        short: MaxBotix MB12XX Sensor 4 Rotation
+        long: This parameter defines the rotation of the sensor relative to the platform.
+      type: enum
+      values:
+        0: No rotation
+        1: "Yaw 45\xB0"
+        2: "Yaw 90\xB0"
+        3: "Yaw 135\xB0"
+        4: "Yaw 180\xB0"
+        5: "Yaw 225\xB0"
+        6: "Yaw 270\xB0"
+        7: "Yaw 315\xB0"
+      default: 0
+      reboot_required: true
+      min: 0
+      max: 7
+    SENS_MB12_5_ROT:
+      description:
+        short: MaxBotix MB12XX Sensor 5 Rotation
+        long: This parameter defines the rotation of the sensor relative to the platform.
+      type: enum
+      values:
+        0: No rotation
+        1: "Yaw 45\xB0"
+        2: "Yaw 90\xB0"
+        3: "Yaw 135\xB0"
+        4: "Yaw 180\xB0"
+        5: "Yaw 225\xB0"
+        6: "Yaw 270\xB0"
+        7: "Yaw 315\xB0"
+      default: 0
+      reboot_required: true
+      min: 0
+      max: 7
+    SENS_MB12_6_ROT:
+      description:
+        short: MaxBotix MB12XX Sensor 6 Rotation
+        long: This parameter defines the rotation of the sensor relative to the platform.
+      type: enum
+      values:
+        0: No rotation
+        1: "Yaw 45\xB0"
+        2: "Yaw 90\xB0"
+        3: "Yaw 135\xB0"
+        4: "Yaw 180\xB0"
+        5: "Yaw 225\xB0"
+        6: "Yaw 270\xB0"
+        7: "Yaw 315\xB0"
+      default: 0
+      reboot_required: true
+      min: 0
+      max: 7
+    SENS_MB12_7_ROT:
+      description:
+        short: MaxBotix MB12XX Sensor 7 Rotation
+        long: This parameter defines the rotation of the sensor relative to the platform.
+      type: enum
+      values:
+        0: No rotation
+        1: "Yaw 45\xB0"
+        2: "Yaw 90\xB0"
+        3: "Yaw 135\xB0"
+        4: "Yaw 180\xB0"
+        5: "Yaw 225\xB0"
+        6: "Yaw 270\xB0"
+        7: "Yaw 315\xB0"
+      default: 0
+      reboot_required: true
+      min: 0
+      max: 7
+    SENS_MB12_8_ROT:
+      description:
+        short: MaxBotix MB12XX Sensor 8 Rotation
+        long: This parameter defines the rotation of the sensor relative to the platform.
+      type: enum
+      values:
+        0: No rotation
+        1: "Yaw 45\xB0"
+        2: "Yaw 90\xB0"
+        3: "Yaw 135\xB0"
+        4: "Yaw 180\xB0"
+        5: "Yaw 225\xB0"
+        6: "Yaw 270\xB0"
+        7: "Yaw 315\xB0"
+      default: 0
+      reboot_required: true
+      min: 0
+      max: 7
+    SENS_MB12_9_ROT:
+      description:
+        short: MaxBotix MB12XX Sensor 9 Rotation
+        long: This parameter defines the rotation of the sensor relative to the platform.
+      type: enum
+      values:
+        0: No rotation
+        1: "Yaw 45\xB0"
+        2: "Yaw 90\xB0"
+        3: "Yaw 135\xB0"
+        4: "Yaw 180\xB0"
+        5: "Yaw 225\xB0"
+        6: "Yaw 270\xB0"
+        7: "Yaw 315\xB0"
+      default: 0
+      reboot_required: true
+      min: 0
+      max: 7
+    SENS_MB12_10_ROT:
+      description:
+        short: MaxBotix MB12XX Sensor 10 Rotation
+        long: This parameter defines the rotation of the sensor relative to the platform.
+      type: enum
+      values:
+        0: No rotation
+        1: "Yaw 45\xB0"
+        2: "Yaw 90\xB0"
+        3: "Yaw 135\xB0"
+        4: "Yaw 180\xB0"
+        5: "Yaw 225\xB0"
+        6: "Yaw 270\xB0"
+        7: "Yaw 315\xB0"
+      default: 0
+      reboot_required: true
+      min: 0
+      max: 7
+    SENS_MB12_11_ROT:
+      description:
+        short: MaxBotix MB12XX Sensor 12 Rotation
+        long: This parameter defines the rotation of the sensor relative to the platform.
+      type: enum
+      values:
+        0: No rotation
+        1: "Yaw 45\xB0"
+        2: "Yaw 90\xB0"
+        3: "Yaw 135\xB0"
+        4: "Yaw 180\xB0"
+        5: "Yaw 225\xB0"
+        6: "Yaw 270\xB0"
+        7: "Yaw 315\xB0"
+      default: 0
+      reboot_required: true
+      min: 0
+      max: 7