MicoAir MTF-02P Optical Flow & 6m Range 2IN1 Sensor

The MicoAir MTF-02P combines a downward optical flow camera and a 6 m time-of-flight rangefinder on one 1.5 g board. It gives ArduPilot, PX4 and INAV multirotors steady position hold and altitude hold indoors or anywhere GPS is weak. This is the 6 m model, not the 12 m MTF-01P.

Key features

• Optical flow and laser ranging share one UART, so you only need one serial port on the flight controller
• Switch between MAVLink, MSP and Micolink with a solder jumper on the back or the MicoAssistant tool
• 940 nm emitter with a narrow 2 degree beam and only a 2 cm dead zone
• Rated for outdoor use: 4 m range holds even at 70K lux
• Runs on 5 V at about 40 mA

Specifications

• Interface: UART, 115200 baud, LVTTL
• Protocols: MAVLink, MSP, Micolink
• Output rate: 50 Hz
• ToF range: 6 m at 90% reflectance / 1K lux; 4 m at 70K lux
• Ranging accuracy: 2 cm below 2 m; 1.5% above 2 m
• Optical flow FOV: 42 degrees
• Max speed measurement: 7 m/s at 1 m height
• Flow working distance: above 8 cm, needs more than 60 lux
• Supply: 5 V, 200 mW
• Dimensions: 21.6 x 16 x 6.5 mm
• Weight: 1.5 g

On ArduPilot, connect it to a spare telemetry port and set FLOW_TYPE 5 and RNGFND1_TYPE 10, with RNGFND1_MAX_CM at 600.