diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index ca407713815..69b6105d427 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -337,6 +337,10 @@ private:
 		(ParamExtFloat<px4::params::EKF2_BARO_NOISE>) _baro_noise,	///< observation noise for barometric height fusion (m)
 		(ParamExtFloat<px4::params::EKF2_BARO_GATE>)
 		_baro_innov_gate,	///< barometric height innovation consistency gate size (STD)
+		(ParamInt<px4::params::EKF2_GND_EFF_EN>)
+		_enable_gnd_effect,	///< Controls barometric deadzone fusion, 0 disables, 1 enables
+		(ParamExtFloat<px4::params::EKF2_GND_EFF_DZ>)
+		_gnd_effect_deadzone,	///< barometric deadzone range for negative innovations (m)
 		(ParamExtFloat<px4::params::EKF2_GPS_P_GATE>)
 		_posNE_innov_gate,	///< GPS horizontal position innovation consistency gate size (STD)
 		(ParamExtFloat<px4::params::EKF2_GPS_V_GATE>) _vel_innov_gate,	///< GPS velocity innovation consistency gate size (STD)
@@ -537,6 +541,7 @@ Ekf2::Ekf2():
 	_pos_noaid_noise(_params->pos_noaid_noise),
 	_baro_noise(_params->baro_noise),
 	_baro_innov_gate(_params->baro_innov_gate),
+	_gnd_effect_deadzone(_params->gnd_effect_deadzone),
 	_posNE_innov_gate(_params->posNE_innov_gate),
 	_vel_innov_gate(_params->vel_innov_gate),
 	_tas_innov_gate(_params->tas_innov_gate),
@@ -1250,7 +1255,8 @@ void Ekf2::run()
 		if (vehicle_land_detected_updated) {
 			if (orb_copy(ORB_ID(vehicle_land_detected), _vehicle_land_detected_sub, &vehicle_land_detected) == PX4_OK) {
 				_ekf.set_in_air_status(!vehicle_land_detected.landed);
-				//_ekf.set_gnd_effect_flag(vehicle_land_detected.in_ground_effect);
+				if(_enable_gnd_effect.get())
+				  _ekf.set_gnd_effect_flag(vehicle_land_detected.in_ground_effect);
 			}
 		}
 
diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c
index f9f46fb0ab2..a008d75e52e 100644
--- a/src/modules/ekf2/ekf2_params.c
+++ b/src/modules/ekf2/ekf2_params.c
@@ -538,6 +538,29 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_YAWLIM, 0.25f);
  */
 PARAM_DEFINE_FLOAT(EKF2_BARO_GATE, 5.0f);
 
+/**
+ * Boolean determining if barometer deadzone near ground should be accounted.
+ *
+ * A value of 1 indicates that deadzone is active
+ *
+ * @group EKF2
+ * @boolean
+ */
+PARAM_DEFINE_INT32(EKF2_GND_EFF_EN, 0);
+
+/**
+ * Baro deadzone range for height fusion
+ *
+ * Sets the value of deadzone applied to negative baro innovations when ground effect compensation is active
+ *
+ * @group EKF2
+ * @min 0.5
+ * @max 10.0
+ * @unit M
+ * @decimal 1
+ */
+PARAM_DEFINE_FLOAT(EKF2_GND_EFF_DZ, 5.0f);
+
 /**
  * Gate size for GPS horizontal position fusion
  *