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diff --git a/src/examples/flow_position_estimator/flow_position_estimator_params.c b/src/examples/flow_position_estimator/flow_position_estimator_params.c
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+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
+ *   Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
+ *   		 Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 flow_position_estimator_params.c
+ * 
+ * Parameters for position estimator
+ */
+
+#include "flow_position_estimator_params.h"
+
+/* Extended Kalman Filter covariances */
+
+/* controller parameters */
+PARAM_DEFINE_FLOAT(FPE_LO_THRUST, 0.4f);
+PARAM_DEFINE_FLOAT(FPE_SONAR_LP_U, 0.5f);
+PARAM_DEFINE_FLOAT(FPE_SONAR_LP_L, 0.2f);
+PARAM_DEFINE_INT32(FPE_DEBUG, 0);
+
+
+int parameters_init(struct flow_position_estimator_param_handles *h)
+{
+	/* PID parameters */
+	h->minimum_liftoff_thrust	=	param_find("FPE_LO_THRUST");
+	h->sonar_upper_lp_threshold	=	param_find("FPE_SONAR_LP_U");
+	h->sonar_lower_lp_threshold	=	param_find("FPE_SONAR_LP_L");
+	h->debug					=	param_find("FPE_DEBUG");
+
+	return OK;
+}
+
+int parameters_update(const struct flow_position_estimator_param_handles *h, struct flow_position_estimator_params *p)
+{
+	param_get(h->minimum_liftoff_thrust, &(p->minimum_liftoff_thrust));
+	param_get(h->sonar_upper_lp_threshold, &(p->sonar_upper_lp_threshold));
+	param_get(h->sonar_lower_lp_threshold, &(p->sonar_lower_lp_threshold));
+	param_get(h->debug, &(p->debug));
+
+	return OK;
+}