diff --git a/libraries/AP_Proximity/AP_Proximity.cpp b/libraries/AP_Proximity/AP_Proximity.cpp
index 91d37466e1..26d60b08d0 100644
--- a/libraries/AP_Proximity/AP_Proximity.cpp
+++ b/libraries/AP_Proximity/AP_Proximity.cpp
@@ -65,6 +65,14 @@ const AP_Param::GroupInfo AP_Proximity::var_info[] = {
     // 19 was _MIN
     // 20 was _MAX
 
+    // @Param{Copter}: _ALT_MIN
+    // @DisplayName: Proximity lowest altitude.
+    // @Description: Minimum altitude below which proximity should not work.
+    // @Units: m
+    // @Range: 0 10
+    // @User: Advanced
+    AP_GROUPINFO_FRAME("_ALT_MIN", 25, AP_Proximity, _alt_min, 1.0f, AP_PARAM_FRAME_COPTER | AP_PARAM_FRAME_HELI | AP_PARAM_FRAME_TRICOPTER),
+
     // @Group: 1
     // @Path: AP_Proximity_Params.cpp
     AP_SUBGROUPINFO(params[0], "1", 21, AP_Proximity, AP_Proximity_Params),
diff --git a/libraries/AP_Proximity/AP_Proximity.h b/libraries/AP_Proximity/AP_Proximity.h
index 8dd2f2393a..acea4e5a3e 100644
--- a/libraries/AP_Proximity/AP_Proximity.h
+++ b/libraries/AP_Proximity/AP_Proximity.h
@@ -173,9 +173,10 @@ private:
     bool valid_instance(uint8_t i) const;
 
     // parameters for all instances
-    AP_Int8 _raw_log_enable;                            // enable logging raw distances
+    AP_Int8 _raw_log_enable;                           // enable logging raw distances
     AP_Int8 _ign_gnd_enable;                           // true if land detection should be enabled
     AP_Float _filt_freq;                               // cutoff frequency for low pass filter
+    AP_Float _alt_min;                                 // Minimum altitude -in meters- below which proximity should not work.
 
     // get alt from rangefinder in meters. This reading is corrected for vehicle tilt
     bool get_rangefinder_alt(float &alt_m) const;
diff --git a/libraries/AP_Proximity/AP_Proximity_Utils.cpp b/libraries/AP_Proximity/AP_Proximity_Utils.cpp
index 966f868a79..9db47c8f73 100644
--- a/libraries/AP_Proximity/AP_Proximity_Utils.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_Utils.cpp
@@ -20,7 +20,6 @@
 
 #if HAL_PROXIMITY_ENABLED
 
-#define PROXIMITY_GND_DETECT_THRESHOLD 1.0f // set ground detection threshold to be 1 meters
 #define PROXIMITY_ALT_DETECT_TIMEOUT_MS 500 // alt readings should arrive within this much time
 
 extern const AP_HAL::HAL& hal;
@@ -79,7 +78,7 @@ bool AP_Proximity::check_obstacle_near_ground(float pitch, float yaw, float dist
 
     if (rotated_object_3D.z > -0.5f) {
         // obstacle is at the most 0.5 meters above vehicle
-        if ((alt - PROXIMITY_GND_DETECT_THRESHOLD) < rotated_object_3D.z) {
+        if ((alt - _alt_min) < rotated_object_3D.z) {
             // obstacle is near or below ground
             return true;
         }