What sort of a controller is it? Does it even support RAID5? Anyway, assuming that you have a decent true hardware HP brand RAID controller..
Open up the HP Array Configuration Utility (ACU). Select your controller, the array and the logical drive in question. Choose to Migrate RAID / Stripe Size. Select the RAID level you want. Apply changes.
I don't remember whether you have to assign unused drives to an array or does ACU do that automatically..