Distance Sensor Orientation

#1

Is there a way in PX4 to set up an upward facing distance sensor? Looking into using it for ceiling collision avoidance. Mission Planner for ArduPilot has a parameter for upward collision avoidance. (http://ardupilot.org/copter/docs/common-rangefinder-objectavoidance.html#common-rangefinder-objectavoidance)
Is there an equivalent solution for PX4?
Thank you.