diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 104cc81fee108e591d396e25d0c19b203872c9c1..9a1a55e784d693d331564088b6dc30e7b36f2116 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -1251,6 +1251,22 @@ Increasing it makes the multi-rotor wind estimates adjust more slowly</short_des
       <decimal>2</decimal>
       <reboot_required>true</reboot_required>
     </parameter>
+    <parameter default="0.0" name="EKF2_GND_EFF_DZ" type="FLOAT">
+      <short_desc>Baro deadzone range for height fusion</short_desc>
+      <long_desc>Sets the value of deadzone applied to negative baro innovations. Deadzone is enabled when EKF2_GND_EFF_DZ &gt; 0.</long_desc>
+      <min>0.0</min>
+      <max>10.0</max>
+      <unit>M</unit>
+      <decimal>1</decimal>
+    </parameter>
+    <parameter default="0.5" name="EKF2_GND_MAX_HGT" type="FLOAT">
+      <short_desc>Height above ground level for ground effect zone</short_desc>
+      <long_desc>Sets the maximum distance to the ground level where negative baro innovations are expected.</long_desc>
+      <min>0.0</min>
+      <max>5.0</max>
+      <unit>M</unit>
+      <decimal>1</decimal>
+    </parameter>
     <parameter default="245" name="EKF2_GPS_CHECK" type="INT32">
       <short_desc>Integer bitmask controlling GPS checks</short_desc>
       <long_desc>Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Minimum required GDoP set by EKF2_REQ_GDOP 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. Detecton of the stationary condition is controlled by the EKF2_MOVE_TEST parameter. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT</long_desc>