diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index b9a3b17126..29e308bc4a 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -1199,13 +1199,14 @@ bool NavEKF2::use_compass(void) const
 // The sign convention is that a RH physical rotation of the sensor about an axis produces both a positive flow and gyro rate
 // msecFlowMeas is the scheduler time in msec when the optical flow data was received from the sensor.
 // posOffset is the XYZ flow sensor position in the body frame in m
-void NavEKF2::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset)
+// heightOverride is the fixed height of the sensor above ground in m, when on rover vehicles. 0 if not used
+void NavEKF2::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset, float heightOverride)
 {
-    AP::dal().writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset);
+    AP::dal().writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset, heightOverride);
 
     if (core) {
         for (uint8_t i=0; i<num_cores; i++) {
-            core[i].writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset);
+            core[i].writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset, heightOverride);
         }
     }
 }
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.h b/libraries/AP_NavEKF2/AP_NavEKF2.h
index 49c678f8be..e850208403 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.h
@@ -179,7 +179,8 @@ public:
     // The sign convention is that a RH physical rotation of the sensor about an axis produces both a positive flow and gyro rate
     // msecFlowMeas is the scheduler time in msec when the optical flow data was received from the sensor.
     // posOffset is the XYZ flow sensor position in the body frame in m
-    void  writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset);
+    // heightOverride is the fixed height of the sensor above ground in m, when on rover vehicles. 0 if not used
+    void  writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset, float heightOverride);
 
     // Set to true if the terrain underneath is stable enough to be used as a height reference
     // in combination with a range finder. Set to false if the terrain underneath the vehicle
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
index db29459a7c..ab2116c92b 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -113,7 +113,7 @@ void NavEKF2_core::readRangeFinder(void)
 
 // write the raw optical flow measurements
 // this needs to be called externally.
-void NavEKF2_core::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset)
+void NavEKF2_core::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset, float heightOverride)
 {
     // The raw measurements need to be optical flow rates in radians/second averaged across the time since the last update
     // The PX4Flow sensor outputs flow rates with the following axis and sign conventions:
@@ -158,6 +158,8 @@ void NavEKF2_core::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f
         ofDataNew.flowRadXY = (-rawFlowRates).toftype(); // raw (non motion compensated) optical flow angular rate about the X axis (rad/sec)
         // write the flow sensor position in body frame
         ofDataNew.body_offset = posOffset.toftype();
+        // write the flow sensor height override
+        ofDataNew.heightOverride = heightOverride;
         // write flow rate measurements corrected for body rates
         ofDataNew.flowRadXYcomp.x = ofDataNew.flowRadXY.x + ofDataNew.bodyRadXYZ.x;
         ofDataNew.flowRadXYcomp.y = ofDataNew.flowRadXY.y + ofDataNew.bodyRadXYZ.y;
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp
index f862b23836..d1fcb35669 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp
@@ -1,4 +1,5 @@
 #include <AP_HAL/AP_HAL.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
 
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
@@ -315,6 +316,13 @@ void NavEKF2_core::FuseOptFlow()
             range -= posOffsetEarth.z / prevTnb.c.z;
         }
 
+        // override with user specified height (if given, for rover)
+#if APM_BUILD_TYPE(APM_BUILD_Rover)
+        if (ofDataDelayed.heightOverride > 0) {
+            range = ofDataDelayed.heightOverride;
+        }
+#endif
+
         // calculate relative velocity in sensor frame including the relative motion due to rotation
         relVelSensor = prevTnb*stateStruct.velocity + ofDataDelayed.bodyRadXYZ % posOffsetBody;
 
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
index e25bad340a..8c74d18fb3 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
@@ -199,7 +199,8 @@ public:
     // The sign convention is that a RH physical rotation of the sensor about an axis produces both a positive flow and gyro rate
     // msecFlowMeas is the scheduler time in msec when the optical flow data was received from the sensor.
     // posOffset is the XYZ flow sensor position in the body frame in m
-    void  writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset);
+    // heightOverride is the fixed height of the sensor above ground in m, when on rover vehicles. 0 if not used
+    void  writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset, float heightOverride);
 
     /*
         Returns the following data for debugging range beacon fusion
@@ -461,6 +462,7 @@ private:
         Vector2F    flowRadXYcomp;
         Vector3F    bodyRadXYZ;
         Vector3F    body_offset;
+        float       heightOverride;
     };
 
     struct ext_nav_elements : EKF_obs_element_t {