MicoAir MTF-01 PX4 Optical Flow & Lidar Range Sensor 8m

Specifications:

• Model: MicoAir MTF-01
  
• Sensor Type: Integrated Optical Flow & Rangefinder
  
• Optical Flow Sensor: PMW3901 (Standard for ArduPilot/iNav)
  
• Lidar Sensor: ToF (Time-of-Flight)
  
• Lidar Range: 0.02m to 8.0m (Indoor/Outdoor capable)
  
• Interface: UART (Serial)
  
• Protocol Support: MSP (iNav default), MAVLink (ArduPilot/PX4), Micolink
  
• Input Voltage: 5V DC
  
• Logic Voltage: 3.3V / 5V Tolerant
  
• Baud Rate: 115200 (Default)
  
• Update Rate: Up to 100Hz
  
• Working Environment: > 10 Lux (Optical Flow requires light/texture)
  
• Dimensions: 29 x 18 mm
  
• Weight: ~4.5g

Applications:

• Indoor Inspection Drones: Hold position inside warehouses or tunnels where GPS is blocked.
  
• Autonomous Warehousing: Precise landing and altitude control for logistics bots.
  
• STEM Education: Teaching students about sensor fusion and non-GPS navigation.
  
• Cinematography: Smooth, drifting-free shots in indoor studios.
  Competition Drones: Essential for "Micro Class" autonomous challenges.

Project Evolution:

•  The GPS Reliance (Where you likely are) You've built a drone that flies great outdoors, but the moment you enter a building, it switches to "Altitude Hold" at best, or drifts into a wall. You are reliant on satellites.
• The Upgrade (This Product) Installing the MTF-01 acts as a "Virtual Anchor." The Optical Flow sensor reads the floor texture to detect drift, while the Lidar measures the exact distance to the ground. This combination unlocks FlowHold and Surface Tracking modes.
• The Result (What you can do now) You can now program your drone to take off, fly through a window, hover in a hallway, and land precisely on a target—all without a single GPS satellite.
• Effort Level: Intermediate (Requires Flight Controller parameter configuration).
• Hardware Required: Flight Controller (Pixhawk, Matek, SpeedyBee) running ArduPilot 4.1+ or iNav 6.0+.

Virtual Technician: Wiring & Safety
⚠️ CRITICAL WARNING: The optical flow lens comes with a protective cap. REMOVE this cap before flight! Flying with the cap on will cause the drone to panic and potentially crash as it sees "zero motion" despite moving.

Pinout Guide (Standard UART):

• 5V: Connect to FC 5V rail (Stable power required).
  
• GND: Connect to FC Ground.
  
• TX: Connect to FC RX (Crossed).
  
• RX: Connect to FC TX (Crossed).

Setup Note: For ArduPilot, set FLOW_TYPE = 5 (MSP) or 7 (Micolink) depending on your firmware configuration. Ensure RNGFND_TYPE is also mapped to the same UART driver.

 Package Includes:

 1 x MicoAir MTF-01 PX4 Optical Flow & Lidar Range Sensor 8m 

 1 X SH1.0-4P to SH1.0-4P 15cm 

 1 X SH1.0-P to SH1.25-6P 20cm 

 1 X SH1.0-P to GH1.25-6P 20cm 

Frequently Asked Questions (Technical)

1. Does this work with standard F405 flight controllers?
   Yes, as long as the FC has a free UART port and supports ArduPilot, PX4, or iNav firmware.
   
2. Can I use this simultaneously with a GPS module?
   Yes, Optical Flow can blend with GPS (EKF fusion) to provide superior stability, especially when transitioning between indoor and outdoor environments.
   
3. Why does my drone drift even with the sensor installed?
   Ensure the floor has texture (carpet/tiles). Optical flow cannot "see" motion on solid color floors, mirrors, or water.
   
4. What is the maximum speed for effective optical flow?
   It depends on altitude, but generally, it tracks well up to 5-7 m/s at 2m altitude.
   
5. Does it require soldering?
   No, it uses JST-GH connectors. However, depending on your FC, you might need to splice wires if the connector type differs.
   
6. Does this sensor work in total darkness?
   The Lidar (altitude) works in darkness, but the Optical Flow (position) requires light (>10 Lux) to track surface texture.
   
7. How do I configure this in Betaflight?
   Betaflight support for Optical Flow is limited and experimental. This module is primarily designed for iNav, ArduPilot, and PX4.
   
8. What happens if the Lidar range (8m) is exceeded?
   The sensor will output a specific "out of range" value. The flight controller will fall back to the Barometer for altitude hold.
   
9. Can I use this for obstacle avoidance?
   No, this is a downward-facing sensor for altitude and position hold. It does not look forward.
   
10. Is the UART voltage 3.3V or 5V?
    The power supply must be 5V. The data lines (TX/RX) are 3.3V logic but 5V tolerant.
    
11. Why is the module heating up?
    The ToF emitter generates some heat; this is normal. Ensure adequate airflow if enclosed.
    
12. Which ArduPilot FLOW_TYPE should I use?
    If using the MAVLink protocol, use FLOW_TYPE = 6. If using MSP, use FLOW_TYPE = 5.
    
13. Can I change the baud rate?
    Yes, using the MicoAssistant configuration software (Windows) via a USB-TTL adapter.
    
14. Does it support "Terrain Following"?
    Yes, ArduPilot supports terrain following using the ToF distance data from this module.
    
15. Is the lens focus adjustable?
    The lens is factory-focused to infinity. Do not attempt to rotate it as it may break the glue seal.
    
16. Will vibration affect performance?
    Yes, excessive vibration can blur the optical flow image. Use soft mounting or foam tape if your frame vibrates heavily.
    
17. What is the "Micolink" protocol?
    It is MicoAir's custom lightweight protocol, often used when typical MSP/MAVLink messages are too heavy for specific setups.
    
18. Can I power this from the 4.5V USB rail on my FC?
    Yes, provided the USB supply can handle the current (~100mA). A dedicated 5V BEC is recommended for flight.
    
19. How do I test if it's working before flight?
    Use the "Opt Flow" tab in Mission Planner or the "Sensors" tab in iNav Configurator to visualize the x/y movement values when you move the drone by hand.
    
20. Is this compatible with Raspberry Pi?
    Yes, you can read the UART data directly into a Python script on a Raspberry Pi for custom robotics projects.