I am trying to integrate a new ultrasonic sensor driver I wrote for the PGA460. I have successfully published data to uORB as type "distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND." I can see the data in the analyze widget in QGroundControl, and it looks clean. I would like to use this data in the EKF2 to determine the height above ground level.
I have found parameters such as EKF2_RNG_AID, MPC_ALT_MODE, EKF2_HGT_MODE, but I am unsure about how to explicitly enable use of rangefinder data. I am not seeing a parameter for height above ground in the analyze widget... I see hagl_ratio, but it always remains 0 and I see altitude_terrain, which is all FFs.
I am still quite new to PX4, any help would be greatly appreciated!