MTF-01 Optical Flow & LiDAR Sensor — User Manual
The MTF-01 is MicoAir's original combined optical flow + range sensor: a downward-facing camera measures horizontal motion while an LED rangefinder measures height, giving a drone everything it needs to hold position indoors without GPS. It outputs data over a simple serial port at 100 Hz and speaks four protocols, so it works with ArduPilot, PX4, INAV and FMT after a few parameter changes.
Where to buy
- Robofusion store (ships from Canada — free Canada-wide shipping): MicoAir MTF-01 — order the variant matching your firmware (ArduPilot / PX4 / INAV), or switch protocols anytime in software
- Free 3D-printable protective case: see Sensor Cases & Mounts
Point a camera at the ground and track how the texture slides across the frame — that's optical flow: it measures the aircraft's horizontal velocity, exactly the drift a position-hold controller needs to cancel. But flow alone is ambiguous: fast-and-high looks identical to slow-and-low. That's why every flow sensor pairs with a rangefinder — knowing the height scales the flow into real meters per second. The practical limits follow directly: the ground needs some texture and at least 60 lux of light (flow can't track a featureless dark floor), and the rangefinder's maximum range caps your usable altitude.
Which MTF sensor?
| MTF-01 | MTF-01P | MTF-02 | MTF-02P | |
|---|---|---|---|---|
| Range | 8 m | 12 m | 2.5 m | 6 m |
| Range source | LED 850 nm | Laser 808 nm | 940 nm | 940 nm ToF |
| Range FOV | 6° | 1.5° | 20° | 2° |
| Data rate | 100 Hz | 100 Hz | 50 Hz | 50 Hz |
| Weight | 4.5 g | 8 g | 1.0 g | 1.5 g |
| Best for | 5–7" all-rounder | Larger craft, higher hover | Micro drones, indoor only | Micro drones, outdoor-capable |
Specifications
| Item | Specification |
|---|---|
| Range | 0.02–8 m @ 90% reflectivity (600 lux) · 0.01–5 m @ 70 klux |
| Range accuracy | 4 cm (<2 m) · 2% (>2 m) |
| Range source / FOV | LED, 850 nm / 6° |
| Optical flow FOV | 42° |
| Max flow speed | 7 m/s at 1 m altitude |
| Min flow distance / light | 8 cm / >60 lux |
| Interface | LVTTL (3.3 V) UART, 115200 baud, 100 Hz |
| Protocols | MAVLink (ArduPilot), MAVLink (PX4), MSP (INAV), Micolink (FMT/custom) |
| Power | 5 V, 100 mA average |
| Mounting / size / weight | 24.3 × 12 mm Φ2.5 holes · 29.3 × 17 × 14.5 mm · 4.5 g |
Dimensions
3D model: MTF-01 on GrabCAD
Wiring
| Pin | Connect to flight controller |
|---|---|
| GND | GND |
| 5V | 5 V |
| Rx | UART TX |
| Tx | UART RX |
Mounting
Face the sensor straight down, camera unobstructed, in the default orientation shown below (or set the orientation parameter in MicoAssistant). Keep it away from prop wash dust and LED navigation lights that could confuse the optics.
Configuration
Full parameter walkthroughs for all three firmwares — including the EKF source setup that actually makes indoor hover work, and the GPS/flow dual-source switch — live in one place:
→ Optical Flow Setup Guide — ArduPilot / PX4 / INAV
Quick reference for ArduPilot: SERIALn_PROTOCOL 1, SERIALn_BAUD 115, FLOW_TYPE 5, RNGFND1_TYPE 10, RNGFND1_MAX_CM 800, RNGFND1_ORIENT 25.
Related guides
- Optical Flow Setup Guide (ArduPilot / PX4 / INAV)
- MTF-01P — User Manual · MTF-02 / MTF-02P — User Manual
- Free 3D-printable cases & mounts
- H743 V2 Flight Controller — User Manual
Written and maintained by the Robofusion engineering team. Cross-checked against MicoAir's Chinese user manual (June 2026 revision).