diff --git a/libraries/AP_Param/AP_Param.h b/libraries/AP_Param/AP_Param.h
index 01bec561da04b..bf2d79333ee4f 100644
--- a/libraries/AP_Param/AP_Param.h
+++ b/libraries/AP_Param/AP_Param.h
@@ -820,70 +820,30 @@ class AP_ParamT : public AP_Param
     }
 
     // set a parameter that is an ENABLE param
-    void set_enable(const T &v) {
-        if (v != _value) {
-            invalidate_count();
-        }
-        _value = v;
-    }
+    void set_enable(const T &v);
     
     /// Sets if the parameter is unconfigured
     ///
-    void set_default(const T &v) {
-#if AP_PARAM_DEFAULTS_ENABLED
-        add_default(this, (float)v);
-#endif
-        if (!configured()) {
-            set(v);
-        }
-    }
+    void set_default(const T &v);
 
     /// Sets parameter and default
     ///
-    void set_and_default(const T &v) {
-#if AP_PARAM_DEFAULTS_ENABLED
-        add_default(this, (float)v);
-#endif
-        set(v);
-    }
+    void set_and_default(const T &v);
 
     /// Value setter - set value, tell GCS
     ///
-    void set_and_notify(const T &v) {
-// We do want to compare each value, even floats, since it being the same here
-// is the result of previously setting it.
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wfloat-equal"
-        if (v != _value) {
-#pragma GCC diagnostic pop
-            set(v);
-            notify();
-        }
-    }
+    void set_and_notify(const T &v);
 
     /// Combined set and save
     ///
-    void set_and_save(const T &v) {
-        bool force = fabsf((float)(_value - v)) < FLT_EPSILON;
-        set(v);
-        save(force);
-    }
+    void set_and_save(const T &v);
 
     /// Combined set and save, but only does the save if the value if
     /// different from the current ram value, thus saving us a
     /// scan(). This should only be used where we have not set() the
     /// value separately, as otherwise the value in EEPROM won't be
     /// updated correctly.
-    void set_and_save_ifchanged(const T &v) {
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wfloat-equal"
-        if (v == _value) {
-#pragma GCC diagnostic pop
-            return;
-        }
-        set(v);
-        save(true);
-    }
+    void set_and_save_ifchanged(const T &v);
 
     /// Conversion to T returns a reference to the value.
     ///
@@ -895,9 +855,7 @@ class AP_ParamT : public AP_Param
 
     /// AP_ParamT types can implement AP_Param::cast_to_float
     ///
-    float cast_to_float(void) const {
-        return (float)_value;
-    }
+    float cast_to_float(void) const;
 
 protected:
     T _value;
@@ -933,36 +891,18 @@ class AP_ParamV : public AP_Param
 
     /// Value setter - set value, tell GCS
     ///
-    void set_and_notify(const T &v) {
-        if (v != _value) {
-            set(v);
-            notify();
-        }
-    }
+    void set_and_notify(const T &v);
 
     /// Combined set and save
     ///
-    void set_and_save(const T &v) {
-        bool force = (_value != v);
-        set(v);
-        save(force);
-    }
+    void set_and_save(const T &v);
 
     /// Combined set and save, but only does the save if the value is
     /// different from the current ram value, thus saving us a
     /// scan(). This should only be used where we have not set() the
     /// value separately, as otherwise the value in EEPROM won't be
     /// updated correctly.
-    void set_and_save_ifchanged(const T &v) {
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wfloat-equal"
-        if (_value == v) {
-#pragma GCC diagnostic pop
-            return;
-        }
-        set(v);
-        save(true);
-    }
+    void set_and_save_ifchanged(const T &v);
 
 
     /// Conversion to T returns a reference to the value.
diff --git a/libraries/AP_Param/AP_ParamT.cpp b/libraries/AP_Param/AP_ParamT.cpp
new file mode 100644
index 0000000000000..b8b8fe6dff155
--- /dev/null
+++ b/libraries/AP_Param/AP_ParamT.cpp
@@ -0,0 +1,137 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "AP_Param.h"
+#include <AP_Math/AP_Math.h>
+
+// Param type template functions
+
+// set a parameter that is an ENABLE param
+template<typename T, ap_var_type PT>
+void AP_ParamT<T, PT>::set_enable(const T &v) {
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wfloat-equal"
+    if (v != _value) {
+#pragma GCC diagnostic pop
+        invalidate_count();
+    }
+    _value = v;
+}
+
+// Sets if the parameter is unconfigured
+template<typename T, ap_var_type PT>
+void AP_ParamT<T, PT>::set_default(const T &v) {
+#if AP_PARAM_DEFAULTS_ENABLED
+    add_default(this, (float)v);
+#endif
+    if (!configured()) {
+        set(v);
+    }
+}
+
+// Sets parameter and default
+template<typename T, ap_var_type PT>
+void AP_ParamT<T, PT>::set_and_default(const T &v) {
+#if AP_PARAM_DEFAULTS_ENABLED
+    add_default(this, (float)v);
+#endif
+    set(v);
+}
+
+// Value setter - set value, tell GCS
+template<typename T, ap_var_type PT>
+void AP_ParamT<T, PT>::set_and_notify(const T &v) {
+// We do want to compare each value, even floats, since it being the same here
+// is the result of previously setting it.
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wfloat-equal"
+    if (v != _value) {
+#pragma GCC diagnostic pop
+        set(v);
+        notify();
+    }
+}
+
+// Combined set and save
+template<typename T, ap_var_type PT>
+void AP_ParamT<T, PT>::set_and_save(const T &v) {
+    bool force = fabsf((float)(_value - v)) < FLT_EPSILON;
+    set(v);
+    save(force);
+}
+
+// Combined set and save, but only does the save if the value if
+// different from the current ram value, thus saving us a
+// scan(). This should only be used where we have not set() the
+// value separately, as otherwise the value in EEPROM won't be
+// updated correctly.
+template<typename T, ap_var_type PT>
+void AP_ParamT<T, PT>::set_and_save_ifchanged(const T &v) {
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wfloat-equal"
+    if (v == _value) {
+#pragma GCC diagnostic pop
+        return;
+    }
+    set(v);
+    save(true);
+}
+
+// AP_ParamT types can implement AP_Param::cast_to_float
+template<typename T, ap_var_type PT>
+float AP_ParamT<T, PT>::cast_to_float(void) const {
+    return (float)_value;
+}
+
+template class AP_ParamT<float, AP_PARAM_FLOAT>;
+template class AP_ParamT<int8_t, AP_PARAM_INT8>;
+template class AP_ParamT<int16_t, AP_PARAM_INT16>;
+template class AP_ParamT<int32_t, AP_PARAM_INT32>;
+
+// Value setter - set value, tell GCS
+template<typename T, ap_var_type PT>
+void AP_ParamV<T, PT>::set_and_notify(const T &v) {
+    if (v != _value) {
+        set(v);
+        notify();
+    }
+}
+
+    /// Combined set and save
+template<typename T, ap_var_type PT>
+void AP_ParamV<T, PT>::set_and_save(const T &v) {
+    bool force = (_value != v);
+    set(v);
+    save(force);
+}
+
+// Combined set and save, but only does the save if the value is
+// different from the current ram value, thus saving us a
+// scan(). This should only be used where we have not set() the
+// value separately, as otherwise the value in EEPROM won't be
+// updated correctly.
+template<typename T, ap_var_type PT>
+void AP_ParamV<T, PT>::set_and_save_ifchanged(const T &v) {
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wfloat-equal"
+    if (_value == v) {
+#pragma GCC diagnostic pop
+        return;
+    }
+    set(v);
+    save(true);
+}
+
+template class AP_ParamV<Vector3f, AP_PARAM_VECTOR3F>;