diff --git a/src/drivers/voxl2_io/CMakeLists.txt b/src/drivers/voxl2_io/CMakeLists.txt
index b6e3d8a3c2..fb8412e099 100644
--- a/src/drivers/voxl2_io/CMakeLists.txt
+++ b/src/drivers/voxl2_io/CMakeLists.txt
@@ -47,4 +47,5 @@ px4_add_module(
 		mixer_module
 	MODULE_CONFIG
 		module.yaml
+		voxl2_io_params.yaml
 	)
diff --git a/src/drivers/voxl2_io/voxl2_io_params.c b/src/drivers/voxl2_io/voxl2_io_params.c
deleted file mode 100644
index ac99723b8d..0000000000
--- a/src/drivers/voxl2_io/voxl2_io_params.c
+++ /dev/null
@@ -1,104 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020 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.
- *
- ****************************************************************************/
-
-/**
- * VOXL2_IO UART baud rate
- *
- * Default rate is 921600, which is used for communicating with VOXL2_IO board
- *
- * @group VOXL2 IO
- * @unit bit/s
- */
-PARAM_DEFINE_INT32(VOXL2_IO_BAUD, 921600);
-
-
-/**
- * VOXL2_IO Disabled PWM
- *
- * Pulse duration in disabled state (microseconds) for VOXL2_IO board
- *
- * @min 0
- * @max 2000
- * @group VOXL2 IO
- * @unit us
- */
-PARAM_DEFINE_INT32(VOXL2_IO_DIS, 1000);
-
-/**
- * VOXL2_IO Min PWM
- *
- * Minimum duration (microseconds) for VOXL2_IO board
- *
- * @min 0
- * @max 2000
- * @group VOXL2 IO
- * @unit us
- */
-
-PARAM_DEFINE_INT32(VOXL2_IO_MIN, 1100);
-
-/**
- * VOXL2_IO Max PWM
- *
- * Maximum duration (microseconds) for VOXL2_IO board
- * @min 0
- * @max 2000
- * @group VOXL2 IO
- * @unit us
- */
-PARAM_DEFINE_INT32(VOXL2_IO_MAX, 2000);
-
-
-/**
- * VOXL2_IO Calibration Min PWM
- *
- * Minimum duration (microseconds) for VOXL2_IO board
- *
- * @min 0
- * @max 2000
- * @group VOXL2 IO
- * @unit us
- */
-
-PARAM_DEFINE_INT32(VOXL2_IO_CMIN, 1050);
-
-/**
- * VOXL2_IO Calibration Max PWM
- *
- * Maximum duration (microseconds) for VOXL2_IO board
- * @min 0
- * @max 2000
- * @group VOXL2 IO
- * @unit us
- */
-PARAM_DEFINE_INT32(VOXL2_IO_CMAX, 2000);
diff --git a/src/drivers/voxl2_io/voxl2_io_params.yaml b/src/drivers/voxl2_io/voxl2_io_params.yaml
new file mode 100644
index 0000000000..847044946f
--- /dev/null
+++ b/src/drivers/voxl2_io/voxl2_io_params.yaml
@@ -0,0 +1,57 @@
+module_name: voxl2_io
+parameters:
+- group: VOXL2 IO
+  definitions:
+    VOXL2_IO_BAUD:
+      description:
+        short: VOXL2_IO UART baud rate
+        long: Default rate is 921600, which is used for communicating with VOXL2_IO
+          board
+      type: int32
+      default: 921600
+      unit: bit/s
+    VOXL2_IO_DIS:
+      description:
+        short: VOXL2_IO Disabled PWM
+        long: Pulse duration in disabled state (microseconds) for VOXL2_IO board
+      type: int32
+      default: 1000
+      min: 0
+      max: 2000
+      unit: us
+    VOXL2_IO_MIN:
+      description:
+        short: VOXL2_IO Min PWM
+        long: Minimum duration (microseconds) for VOXL2_IO board
+      type: int32
+      default: 1100
+      min: 0
+      max: 2000
+      unit: us
+    VOXL2_IO_MAX:
+      description:
+        short: VOXL2_IO Max PWM
+        long: Maximum duration (microseconds) for VOXL2_IO board
+      type: int32
+      default: 2000
+      min: 0
+      max: 2000
+      unit: us
+    VOXL2_IO_CMIN:
+      description:
+        short: VOXL2_IO Calibration Min PWM
+        long: Minimum duration (microseconds) for VOXL2_IO board
+      type: int32
+      default: 1050
+      min: 0
+      max: 2000
+      unit: us
+    VOXL2_IO_CMAX:
+      description:
+        short: VOXL2_IO Calibration Max PWM
+        long: Maximum duration (microseconds) for VOXL2_IO board
+      type: int32
+      default: 2000
+      min: 0
+      max: 2000
+      unit: us