diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index a991f68fa7..81e5d98dcb 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -172,6 +172,8 @@ private:
 	control::BlockParamFloat *_gyro_scale_p_noise;
 	control::BlockParamFloat *_mag_p_noise;
 	control::BlockParamFloat *_wind_vel_p_noise;
+	control::BlockParamFloat *_terrain_p_noise;	// terrain offset state random walk (m/s)
+	control::BlockParamFloat *_terrain_gradient;	// magnitude of terrain gradient (m/m)
 
 	control::BlockParamFloat *_gps_vel_noise;
 	control::BlockParamFloat *_gps_pos_noise;
@@ -246,6 +248,8 @@ Ekf2::Ekf2():
 	_gyro_scale_p_noise(new control::BlockParamFloat(this, "EKF2_GYR_S_NOISE", false, &_params->gyro_scale_p_noise)),
 	_mag_p_noise(new control::BlockParamFloat(this, "EKF2_MAG_B_NOISE", false, &_params->mag_p_noise)),
 	_wind_vel_p_noise(new control::BlockParamFloat(this, "EKF2_WIND_NOISE", false, &_params->wind_vel_p_noise)),
+	_terrain_p_noise(new control::BlockParamFloat(this, "EKF2_TERR_NOISE", false, &_params->terrain_p_noise)),
+	_terrain_gradient(new control::BlockParamFloat(this, "EKF2_TERR_GRAD", false, &_params->terrain_gradient)),
 	_gps_vel_noise(new control::BlockParamFloat(this, "EKF2_GPS_V_NOISE", false, &_params->gps_vel_noise)),
 	_gps_pos_noise(new control::BlockParamFloat(this, "EKF2_GPS_P_NOISE", false, &_params->gps_pos_noise)),
 	_pos_noaid_noise(new control::BlockParamFloat(this, "EKF2_NOAID_NOISE", false, &_params->pos_noaid_noise)),
diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c
index 3e7465a327..bba39bc376 100644
--- a/src/modules/ekf2/ekf2_params.c
+++ b/src/modules/ekf2/ekf2_params.c
@@ -484,3 +484,21 @@ PARAM_DEFINE_FLOAT(EKF2_OF_GATE, 3.0f);
  * @unit rad/sec
  */
 PARAM_DEFINE_FLOAT(EKF2_OF_RMAX, 2.5f);
+
+/**
+ * Terrain altitude process noise - accounts for instability in vehicle height estimate
+ *
+ * @group EKF2
+ * @min 0.5
+ * @unit m/sec
+ */
+PARAM_DEFINE_FLOAT(EKF2_TERR_NOISE, 5.0f);
+
+/**
+ * Magnitude of terrain gradient
+ *
+ * @group EKF2
+ * @min 0.0
+ * @unit m/m
+ */
+PARAM_DEFINE_FLOAT(EKF2_TERR_GRAD, 0.5f);