diff --git a/src/lib/parameters/CMakeLists.txt b/src/lib/parameters/CMakeLists.txt
index 81502e8b9f..0e5e0c83a0 100644
--- a/src/lib/parameters/CMakeLists.txt
+++ b/src/lib/parameters/CMakeLists.txt
@@ -39,24 +39,34 @@ endif()
 
 # get full path for each module
 get_property(module_list GLOBAL PROPERTY PX4_MODULE_PATHS)
+get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
 
-if (DISABLE_PARAMS_MODULE_SCOPING)
+if(DISABLE_PARAMS_MODULE_SCOPING)
 	# search all directories with .c files (potentially containing parameters)
-	file(GLOB_RECURSE new_list
+	file(GLOB_RECURSE c_files
 		${PX4_SOURCE_DIR}/src/*.c
 		${external_module_paths}
 		)
-	foreach(file_path ${new_list})
+	foreach(file_path ${c_files})
 		get_filename_component(dir_path ${file_path} PATH)
 		list(APPEND module_list "${dir_path}")
 	endforeach()
+
+	# search for all module configs as well
+	file(GLOB_RECURSE yaml_files
+		${PX4_SOURCE_DIR}/src/*.yaml
+		)
+	foreach(file_path ${yaml_files})
+		list(APPEND module_config_files "${file_path}")
+	endforeach()
+
+	list(REMOVE_DUPLICATES module_config_files)
 else()
 	list(APPEND module_list ${external_module_paths})
 endif()
 
 list(REMOVE_DUPLICATES module_list)
 
-get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
 set(generated_params_dir ${PX4_BINARY_DIR}/generated_params)
 set(generated_serial_params_file ${generated_params_dir}/serial_params.c)
 file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)