diff --git a/src/lib/collision_prevention/CMakeLists.txt b/src/lib/collision_prevention/CMakeLists.txt
index ae42b65454..c0c6e06210 100644
--- a/src/lib/collision_prevention/CMakeLists.txt
+++ b/src/lib/collision_prevention/CMakeLists.txt
@@ -35,6 +35,7 @@ px4_add_library(CollisionPrevention
 	CollisionPrevention.cpp
 	ObstacleMath.cpp
 )
+set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/collisionprevention_params.yaml)
 target_compile_options(CollisionPrevention PRIVATE -Wno-cast-align) # TODO: fix and enable
 target_include_directories(CollisionPrevention PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_link_libraries(CollisionPrevention PRIVATE mathlib)
diff --git a/src/lib/collision_prevention/collisionprevention_params.c b/src/lib/collision_prevention/collisionprevention_params.c
deleted file mode 100644
index b573abff1f..0000000000
--- a/src/lib/collision_prevention/collisionprevention_params.c
+++ /dev/null
@@ -1,86 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018 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 collisionprevention_params.c
- *
- * Parameters defined by the collisionprevention lib.
- *
- * @author Tanja Baumann <tanja@auterion.com>
- */
-
-/**
- * Minimum distance the vehicle should keep to all obstacles
- *
- * Only used in Position mode. Collision avoidance is disabled by setting this parameter to a negative value
- *
- * @min -1
- * @max 15
- * @unit m
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(CP_DIST, -1.0f);
-
-/**
- * Average delay of the range sensor message plus the tracking delay of the position controller in seconds
- *
- * Only used in Position mode.
- *
- * @min 0
- * @max 1
- * @unit s
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(CP_DELAY, 0.4f);
-
-/**
- * Angle left/right from the commanded setpoint by which the collision prevention algorithm can choose to change the setpoint direction
- *
- * Only used in Position mode.
- *
- * @min 0
- * @max 90
- * @unit deg
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(CP_GUIDE_ANG, 30.f);
-
-/**
- * Boolean to allow moving into directions where there is no sensor data (outside FOV)
- *
- * Only used in Position mode.
- *
- * @boolean
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_INT32(CP_GO_NO_DATA, 0);
diff --git a/src/lib/collision_prevention/collisionprevention_params.yaml b/src/lib/collision_prevention/collisionprevention_params.yaml
new file mode 100644
index 0000000000..7e62b36987
--- /dev/null
+++ b/src/lib/collision_prevention/collisionprevention_params.yaml
@@ -0,0 +1,47 @@
+module_name: collision_prevention
+parameters:
+- group: Multicopter Position Control
+  definitions:
+    CP_DIST:
+      description:
+        short: Minimum distance the vehicle should keep to all obstacles
+        long: Only used in Position mode. Collision avoidance is disabled by setting
+          this parameter to a negative value
+      type: float
+      default: -1.0
+      min: -1
+      max: 15
+      unit: m
+    CP_DELAY:
+      description:
+        short: Range sensor and position controller average delay
+        long: |-
+          Average delay of the range sensor message plus the tracking delay of the position controller in seconds
+
+          Only used in Position mode.
+      type: float
+      default: 0.4
+      min: 0
+      max: 1
+      unit: s
+    CP_GUIDE_ANG:
+      description:
+        short: Collision prevention guidance angle
+        long: |-
+          Angle left/right from the commanded setpoint by which the collision prevention algorithm can choose to change the setpoint direction
+
+          Only used in Position mode.
+      type: float
+      default: 30.0
+      min: 0
+      max: 90
+      unit: deg
+    CP_GO_NO_DATA:
+      description:
+        short: Allow moving into directions without sensor data
+        long: |-
+          Boolean to allow moving into directions where there is no sensor data (outside FOV)
+
+          Only used in Position mode.
+      type: boolean
+      default: 0