diff --git a/src/drivers/tap_esc/CMakeLists.txt b/src/drivers/tap_esc/CMakeLists.txt
index cf5acf0685..cbf5a8a858 100644
--- a/src/drivers/tap_esc/CMakeLists.txt
+++ b/src/drivers/tap_esc/CMakeLists.txt
@@ -43,6 +43,7 @@ px4_add_module(
 		TAP_ESC.hpp
 	MODULE_CONFIG
 		module.yaml
+		tap_esc_params.yaml
 	DEPENDS
 		led
 		mixer_module
diff --git a/src/drivers/tap_esc/tap_esc_params.c b/src/drivers/tap_esc/tap_esc_params.c
deleted file mode 100644
index fae32a918e..0000000000
--- a/src/drivers/tap_esc/tap_esc_params.c
+++ /dev/null
@@ -1,32 +0,0 @@
-/**
- * @file tap_esc_params.c
- * Parameters for esc version
- *
- */
-
-/**
- * Required esc firmware version.
- *
- * @group ESC
- * @min 0
- * @max 65535
- */
-PARAM_DEFINE_INT32(ESC_FW_VER, 0);
-
-/**
- * Required esc bootloader version.
- *
- * @group ESC
- * @min 0
- * @max 65535
- */
-PARAM_DEFINE_INT32(ESC_BL_VER, 0);
-
-/**
- * Required esc hardware version
- *
- * @group ESC
- * @min 0
- * @max 65535
- */
-PARAM_DEFINE_INT32(ESC_HW_VER, 0);
diff --git a/src/drivers/tap_esc/tap_esc_params.yaml b/src/drivers/tap_esc/tap_esc_params.yaml
new file mode 100644
index 0000000000..75b5fc03b1
--- /dev/null
+++ b/src/drivers/tap_esc/tap_esc_params.yaml
@@ -0,0 +1,25 @@
+module_name: tap_esc
+parameters:
+- group: ESC
+  definitions:
+    ESC_FW_VER:
+      description:
+        short: Required esc firmware version
+      type: int32
+      default: 0
+      min: 0
+      max: 65535
+    ESC_BL_VER:
+      description:
+        short: Required esc bootloader version
+      type: int32
+      default: 0
+      min: 0
+      max: 65535
+    ESC_HW_VER:
+      description:
+        short: Required esc hardware version
+      type: int32
+      default: 0
+      min: 0
+      max: 65535