Hi, This plugin works with tesseract, but you have to specify ‘header’ in the plugin settings. very easy.
https://www.ads-software.com/plugins/sticky-menu-or-anything-on-scroll/
For the margin settings, this is done in the customise theme menu.
Appearance/Customise/Header Options/Header Size
change header width from default to full width. you can also control the size of the header logo here.