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diff --git a/src/modules/navigator/gpsfailure_params.c b/src/modules/navigator/gpsfailure_params.c
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+/****************************************************************************
+ *
+ *   Copyright (c) 2014 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 gpsfailure_params.c
+ *
+ * Parameters for GPSF navigation mode
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#include <nuttx/config.h>
+
+#include <systemlib/param/param.h>
+
+/*
+ * GPS Failure Navigation Mode parameters, accessible via MAVLink
+ */
+
+/**
+ * Loiter time
+ *
+ * The amount of time in seconds the system should do open loop loiter and wait for gps recovery
+ * before it goes into flight termination.
+ *
+ * @unit seconds
+ * @min 0.0
+ * @group GPSF
+ */
+PARAM_DEFINE_FLOAT(NAV_GPSF_LT, 30.0f);
+
+/**
+ * Open loop loiter roll
+ *
+ * Roll in degrees during the open loop loiter
+ *
+ * @unit deg
+ * @min 0.0
+ * @max 30.0
+ * @group GPSF
+ */
+PARAM_DEFINE_FLOAT(NAV_GPSF_R, 15.0f);
+
+/**
+ * Open loop loiter pitch
+ *
+ * Pitch in degrees during the open loop loiter
+ *
+ * @unit deg
+ * @min -30.0
+ * @max 30.0
+ * @group GPSF
+ */
+PARAM_DEFINE_FLOAT(NAV_GPSF_P, 0.0f);
+
+/**
+ * Open loop loiter thrust
+ *
+ * Thrust value which is set during the open loop loiter
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group GPSF
+ */
+PARAM_DEFINE_FLOAT(NAV_GPSF_TR, 0.7f);
+
+