diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 06e5ff4b53..647a552203 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -1032,12 +1032,16 @@ function(px4_generate_parameters_xml)
 	if (NOT OVERRIDES)
 		set(OVERRIDES "{}")
 	endif()
-
+	
 	# get full path for each module
 	set(module_list)
-	foreach(module ${MODULES})
-		list(APPEND module_list ${PX4_SOURCE_DIR}/src/${module})
-	endforeach()
+	if(DISABLE_PARAMS_MODULE_SCOPING)
+		set(module_list ${path})
+	else()
+		foreach(module ${MODULES})
+			list(APPEND module_list ${PX4_SOURCE_DIR}/src/${module})
+		endforeach()
+	endif()
 
 	add_custom_command(OUTPUT ${OUT}
 		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
@@ -1046,7 +1050,8 @@ function(px4_generate_parameters_xml)
 			--overrides ${OVERRIDES}
 		DEPENDS ${param_src_files} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
 			${PX4_SOURCE_DIR}/Tools/px_generate_params.py
-		)
+	)
+
 	set(${OUT} ${${OUT}} PARENT_SCOPE)
 endfunction()
 
@@ -1082,12 +1087,22 @@ function(px4_generate_parameters_source)
 		${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.c)
 	set_source_files_properties(${generated_files}
 		PROPERTIES GENERATED TRUE)
-	px4_join(OUT module_list  LIST ${MODULES} GLUE ",")
-	add_custom_command(OUTPUT ${generated_files}
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py
-		--xml ${XML} --modules ${module_list} --dest ${CMAKE_CURRENT_BINARY_DIR}
-		DEPENDS ${XML} ${DEPS}
+
+	if(DISABLE_PARAMS_MODULE_SCOPING)
+		add_custom_command(OUTPUT ${generated_files}
+			COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py
+				--xml ${XML} --dest ${CMAKE_CURRENT_BINARY_DIR}
+			DEPENDS ${XML} ${DEPS}
 		)
+	else()
+		px4_join(OUT module_list  LIST ${MODULES} GLUE ",")
+		add_custom_command(OUTPUT ${generated_files}
+			COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py
+				--xml ${XML} --modules ${module_list} --dest ${CMAKE_CURRENT_BINARY_DIR}
+			DEPENDS ${XML} ${DEPS}
+		)
+	endif()
+
 	set(${OUT} ${generated_files} PARENT_SCOPE)
 endfunction()
 
diff --git a/cmake/configs/posix_eagle_hil.cmake b/cmake/configs/posix_eagle_hil.cmake
index 14f4cdae03..ceda98b0fe 100644
--- a/cmake/configs/posix_eagle_hil.cmake
+++ b/cmake/configs/posix_eagle_hil.cmake
@@ -9,7 +9,7 @@ endif()
 
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
 
-set(config_generate_parameters_scope ALL)
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
 
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})
diff --git a/cmake/configs/posix_eagle_muorb.cmake b/cmake/configs/posix_eagle_muorb.cmake
index baf9137c8f..a04d645e0f 100644
--- a/cmake/configs/posix_eagle_muorb.cmake
+++ b/cmake/configs/posix_eagle_muorb.cmake
@@ -4,7 +4,7 @@ set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolcha
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 
-set(config_generate_parameters_scope ALL)
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
 
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})
diff --git a/cmake/configs/posix_sdflight_default.cmake b/cmake/configs/posix_sdflight_default.cmake
index 959d579441..256bb0968e 100644
--- a/cmake/configs/posix_sdflight_default.cmake
+++ b/cmake/configs/posix_sdflight_default.cmake
@@ -11,7 +11,12 @@ set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolcha
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 
-set(config_generate_parameters_scope ALL)
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files.  This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used.  This is necessary for parameter synchronization between the 
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
 
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})
diff --git a/cmake/configs/posix_sdflight_legacy.cmake b/cmake/configs/posix_sdflight_legacy.cmake
index 68df5caf90..3185da6800 100644
--- a/cmake/configs/posix_sdflight_legacy.cmake
+++ b/cmake/configs/posix_sdflight_legacy.cmake
@@ -2,7 +2,12 @@ include(posix/px4_impl_posix)
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 
-set(config_generate_parameters_scope ALL)
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files.  This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used.  This is necessary for parameter synchronization between the 
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
 
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})
diff --git a/cmake/configs/qurt_eagle_hello.cmake b/cmake/configs/qurt_eagle_hello.cmake
index 44dc067417..33c43356da 100644
--- a/cmake/configs/qurt_eagle_hello.cmake
+++ b/cmake/configs/qurt_eagle_hello.cmake
@@ -6,7 +6,7 @@ else()
 	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()
 
-set(config_generate_parameters_scope ALL)
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
 
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})
diff --git a/cmake/configs/qurt_eagle_hil.cmake b/cmake/configs/qurt_eagle_hil.cmake
index 2896a6833f..3736c79a15 100644
--- a/cmake/configs/qurt_eagle_hil.cmake
+++ b/cmake/configs/qurt_eagle_hil.cmake
@@ -6,7 +6,7 @@ else()
 	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()
 
-set(config_generate_parameters_scope ALL)
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
 
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})
diff --git a/cmake/configs/qurt_eagle_muorb.cmake b/cmake/configs/qurt_eagle_muorb.cmake
index 0e0152ab1e..3bb2dfd561 100644
--- a/cmake/configs/qurt_eagle_muorb.cmake
+++ b/cmake/configs/qurt_eagle_muorb.cmake
@@ -6,7 +6,7 @@ else()
 	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()
 
-set(config_generate_parameters_scope ALL)
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
 
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})
diff --git a/cmake/configs/qurt_eagle_test.cmake b/cmake/configs/qurt_eagle_test.cmake
index 55cf116349..78a059d14f 100644
--- a/cmake/configs/qurt_eagle_test.cmake
+++ b/cmake/configs/qurt_eagle_test.cmake
@@ -6,7 +6,7 @@ else()
 	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()
 
-set(config_generate_parameters_scope ALL)
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
 
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})
diff --git a/cmake/configs/qurt_eagle_travis.cmake b/cmake/configs/qurt_eagle_travis.cmake
index e3c6a85733..a4d4d2bc33 100644
--- a/cmake/configs/qurt_eagle_travis.cmake
+++ b/cmake/configs/qurt_eagle_travis.cmake
@@ -11,7 +11,7 @@ else()
 	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()
 
-set(config_generate_parameters_scope ALL)
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
 
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})
diff --git a/cmake/configs/qurt_sdflight_default.cmake b/cmake/configs/qurt_sdflight_default.cmake
index b8e111d3fe..172289a8ad 100644
--- a/cmake/configs/qurt_sdflight_default.cmake
+++ b/cmake/configs/qurt_sdflight_default.cmake
@@ -8,8 +8,6 @@ endif()
 
 set(CONFIG_SHMEM "1")
 
-set(config_generate_parameters_scope ALL)
-
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})
 	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
@@ -17,6 +15,13 @@ else()
 	set(QC_SOC_TARGET "APQ8074")
 endif()
 
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files.  This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used.  This is necessary for parameter synchronization between the 
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 include(toolchain/Toolchain-qurt)
 include(qurt_flags)
diff --git a/cmake/configs/qurt_sdflight_legacy.cmake b/cmake/configs/qurt_sdflight_legacy.cmake
index 6523fd58e5..6ab749204b 100644
--- a/cmake/configs/qurt_sdflight_legacy.cmake
+++ b/cmake/configs/qurt_sdflight_legacy.cmake
@@ -8,8 +8,6 @@ endif()
 
 set(CONFIG_SHMEM "1")
 
-set(config_generate_parameters_scope ALL)
-
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})
 	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
@@ -17,6 +15,13 @@ else()
 	set(QC_SOC_TARGET "APQ8074")
 endif()
 
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files.  This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used.  This is necessary for parameter synchronization between the 
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 include(toolchain/Toolchain-qurt)
 include(qurt_flags)
diff --git a/src/platforms/qurt/fc_addon/uart_esc/uart_esc_params.c b/src/platforms/qurt/fc_addon/uart_esc/uart_esc_params.c
index ea39c3c199..ca1ca273b7 100644
--- a/src/platforms/qurt/fc_addon/uart_esc/uart_esc_params.c
+++ b/src/platforms/qurt/fc_addon/uart_esc/uart_esc_params.c
@@ -137,11 +137,3 @@ PARAM_DEFINE_INT32(UART_ESC_MOTOR3, 1);
  * @group Snapdragon UART ESC
  */
 PARAM_DEFINE_INT32(UART_ESC_MOTOR4, 3);
-
-/**
- * TODO-JYW: Temporary change until the reason can be determined why this
- * same parameters is not read from src/platforms/px4_layer/params.c
- *
- * @group Snapdragon UART ESC
- */
-PARAM_DEFINE_INT32(MAV_TYPE, 2);
diff --git a/src/platforms/qurt/px4_layer/CMakeLists.txt b/src/platforms/qurt/px4_layer/CMakeLists.txt
index 2c34d35dc5..7b913cfdbf 100644
--- a/src/platforms/qurt/px4_layer/CMakeLists.txt
+++ b/src/platforms/qurt/px4_layer/CMakeLists.txt
@@ -42,7 +42,6 @@ set(QURT_LAYER_SRCS
 	../../posix/px4_layer/drv_hrt.c
 	qurt_stubs.c
 	main.cpp
-	params.c
 	shmem_qurt.c
 	)
 if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
diff --git a/src/platforms/qurt/px4_layer/params.c b/src/platforms/qurt/px4_layer/params.c
deleted file mode 100644
index 78fcbb5327..0000000000
--- a/src/platforms/qurt/px4_layer/params.c
+++ /dev/null
@@ -1,44 +0,0 @@
-/****************************************************************************
- * Copyright (C) 2015 Mark Charlebois. 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.
- *
- ****************************************************************************/
-
-#include <systemlib/param/param.h>
-
-// This is added because it is a parameter used by commander, yet created by mavlink.  Since mavlink is not
-// running on QURT, we need to manually define it so it is available to commander.  "2" is for quadrotor.
-
-// Following is hack to prevent duplicate parameter definition error in param parser
-/**
- * @board QuRT_App
- */
-// TODO-JYW: Temporarily removed to remove duplicate definition.
-// PARAM_DEFINE_INT32(MAV_TYPE, 2);
-