diff --git a/config/public/dummy/dummy.yaml b/config/public/dummy/dummy.yaml
index f197478..e69de29 100644
--- a/config/public/dummy/dummy.yaml
+++ b/config/public/dummy/dummy.yaml
@@ -1,18 +0,0 @@
-mrs_uav_managers:
-  estimation_manager:
-    dummy:
-      max_flight_z: 100.0 # [m] maximum allowed flight Z (in the estimator frame)
-
-      message:
-        topic: ""
-
-      requires: # data required from the hw api
-        gnss: false
-        imu: false
-        distance_sensor: false
-        altitude: false
-        magnetometer_heading: false
-        position: false
-        orientation: false
-        velocity: false
-        angular_velocity: false
diff --git a/src/estimators/state/dummy.cpp b/src/estimators/state/dummy.cpp
index df40439..ad03303 100644
--- a/src/estimators/state/dummy.cpp
+++ b/src/estimators/state/dummy.cpp
@@ -18,6 +18,16 @@ void Dummy::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers
 
   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
 
+  // | --------------- param loader initialization -------------- |
+
+  ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+  ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+
+  ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+
+  // | --------------------- load parameters -------------------- |
+  ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+
   // | ------------------ timers initialization ----------------- |
   //
   timer_update_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &Dummy::timerUpdate, this, false, false);  // not running after init