diff --git a/src/lib/pure_pursuit/CMakeLists.txt b/src/lib/pure_pursuit/CMakeLists.txt
index 1547d3dcdb..76d7a537de 100644
--- a/src/lib/pure_pursuit/CMakeLists.txt
+++ b/src/lib/pure_pursuit/CMakeLists.txt
@@ -35,5 +35,6 @@ px4_add_library(pure_pursuit
 	PurePursuit.cpp
 	PurePursuit.hpp
 )
+set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/purepursuit_params.yaml)
 
 px4_add_unit_gtest(SRC PurePursuitTest.cpp LINKLIBS pure_pursuit)
diff --git a/src/lib/pure_pursuit/purepursuit_params.c b/src/lib/pure_pursuit/purepursuit_params.c
deleted file mode 100644
index b7b7e7a35e..0000000000
--- a/src/lib/pure_pursuit/purepursuit_params.c
+++ /dev/null
@@ -1,75 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2025 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 pruepursuit_params.c
- *
- * Parameters defined by the pure pursuit lib.
- */
-
-/**
- * Tuning parameter for the pure pursuit controller
- *
- * Lower value -> More aggressive controller (beware overshoot/oscillations)
- *
- * @min 0.1
- * @max 100
- * @increment 0.01
- * @decimal 2
- * @group Pure Pursuit
- */
-PARAM_DEFINE_FLOAT(PP_LOOKAHD_GAIN, 1.0f);
-
-/**
- * Minimum lookahead distance for the pure pursuit controller
- *
- * @min 0.1
- * @max 100
- * @unit m
- * @increment 0.01
- * @decimal 2
- * @group Pure Pursuit
- */
-PARAM_DEFINE_FLOAT(PP_LOOKAHD_MIN, 1.0f);
-
-/**
- * Maximum lookahead distance for the pure pursuit controller
- *
- * @min 0.1
- * @max 100
- * @unit m
- * @increment 0.01
- * @decimal 2
- * @group Pure Pursuit
- */
-PARAM_DEFINE_FLOAT(PP_LOOKAHD_MAX, 10.0f);
diff --git a/src/lib/pure_pursuit/purepursuit_params.yaml b/src/lib/pure_pursuit/purepursuit_params.yaml
new file mode 100644
index 0000000000..88d2a0d108
--- /dev/null
+++ b/src/lib/pure_pursuit/purepursuit_params.yaml
@@ -0,0 +1,34 @@
+module_name: pure_pursuit
+parameters:
+- group: Pure Pursuit
+  definitions:
+    PP_LOOKAHD_GAIN:
+      description:
+        short: Tuning parameter for the pure pursuit controller
+        long: Lower value -> More aggressive controller (beware overshoot/oscillations)
+      type: float
+      default: 1.0
+      min: 0.1
+      max: 100
+      increment: 0.01
+      decimal: 2
+    PP_LOOKAHD_MIN:
+      description:
+        short: Minimum lookahead distance for the pure pursuit controller
+      type: float
+      default: 1.0
+      min: 0.1
+      max: 100
+      unit: m
+      increment: 0.01
+      decimal: 2
+    PP_LOOKAHD_MAX:
+      description:
+        short: Maximum lookahead distance for the pure pursuit controller
+      type: float
+      default: 10.0
+      min: 0.1
+      max: 100
+      unit: m
+      increment: 0.01
+      decimal: 2