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diff --git a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.h b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.h
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+/*
+ * Author: Hyon Lim <limhyon@gmail.com, hyonlim@snu.ac.kr>
+ *
+ * @file attitude_estimator_so3_comp_params.h
+ *
+ * Implementation of nonlinear complementary filters on the SO(3).
+ * This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer.
+ * Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix.
+ * 
+ * Theory of nonlinear complementary filters on the SO(3) is based on [1].
+ * Quaternion realization of [1] is based on [2].
+ * Optmized quaternion update code is based on Sebastian Madgwick's implementation.
+ * 
+ * References
+ *  [1] Mahony, R.; Hamel, T.; Pflimlin, Jean-Michel, "Nonlinear Complementary Filters on the Special Orthogonal Group," Automatic Control, IEEE Transactions on , vol.53, no.5, pp.1203,1218, June 2008
+ *  [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008
+ */
+
+#include <systemlib/param/param.h>
+
+struct attitude_estimator_so3_comp_params {
+	float Kp;
+	float Ki;
+	float roll_off;
+	float pitch_off;
+	float yaw_off;
+};
+
+struct attitude_estimator_so3_comp_param_handles {
+	param_t Kp, Ki;
+	param_t roll_off, pitch_off, yaw_off;
+};
+
+/**
+ * Initialize all parameter handles and values
+ *
+ */
+int parameters_init(struct attitude_estimator_so3_comp_param_handles *h);
+
+/**
+ * Update all parameters
+ *
+ */
+int parameters_update(const struct attitude_estimator_so3_comp_param_handles *h, struct attitude_estimator_so3_comp_params *p);