MTF-02 & MTF-02P Micro Optical Flow & Range Sensors — User Manual
The MTF-02 and MTF-02P shrink the optical-flow-plus-rangefinder combo down to 1.0–1.5 grams — light enough for tiny whoops, 2-inch builds and any micro drone that needs GPS-free position hold. Both output serial data at 50 Hz and speak the same four protocols as their bigger siblings (ArduPilot, PX4, INAV, FMT). The difference between the two: the MTF-02P upgrades to a high-performance ToF rangefinder — 6 m range instead of 2.5 m, a tight 2° beam instead of 20°, and it keeps working outdoors, while the MTF-02 is an indoor-only sensor.
Where to buy
- Robofusion store (ships from Canada — free Canada-wide shipping): MTF-02P · MTF-02
- Free 3D-printable cases for both: see Sensor Cases & Mounts
MTF-02 or MTF-02P?
| MTF-02P | MTF-02 | |
|---|---|---|
| Range | 0.02–6 m @ 90% / 70 klux | 0.02–2.5 m @ 90% / 600 lux |
| Range FOV | 2° | 20° |
| Outdoor use | Yes | Indoor only |
| Size / weight | 21.6 × 16 × 6.5 mm / 1.5 g | 25 × 10 × 4.5 mm / 1.0 g |
| Protocol select | Software or solder pads | Software |
Rule of thumb: MTF-02P unless every gram counts and the aircraft never leaves the room. Need more range or 100 Hz data on a bigger craft? Step up to the MTF-01P.
Specifications (shared)
| Item | Specification |
|---|---|
| Range accuracy | 2 cm (0.02–2 m) · 1.5% (>2 m) |
| Range wavelength | 940 nm |
| 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, 50 Hz |
| Protocols | MAVLink (ArduPilot), MAVLink (PX4), MSP (INAV), Micolink (FMT/custom) |
| Power | 5 V, 100 mA average |
| Operating temperature | −20 °C to +85 °C |
Dimensions
MTF-02P — 21.6 × 16 × 6.5 mm, 1.5 g:
MTF-02 — 25 × 10 × 4.5 mm, 1.0 g:
Wiring
| Pin | Connect to flight controller |
|---|---|
| GND | GND |
| 5V | 5 V |
| Rx | UART TX |
| Tx | UART RX |
Mounting
Face straight down, optics clear, default orientation as below (adjustable in MicoAssistant):
Protocol selection — including the MTF-02P solder pads
Both sensors switch protocols in MicoAssistant. The MTF-02P additionally has protocol-select solder pads on the board — bridge the marked pad for your firmware and it overrides the software setting (highest priority). Handy for setting a batch of sensors without plugging each into a PC:
Configuration
Identical procedure to the MTF-01 series — full ArduPilot / PX4 / INAV walkthrough here:
→ Optical Flow Setup Guide — ArduPilot / PX4 / INAV
Quick reference for ArduPilot: SERIALn_PROTOCOL 1, SERIALn_BAUD 115, FLOW_TYPE 5, RNGFND1_TYPE 10, RNGFND1_ORIENT 25, and set RNGFND1_MAX_CM to the sensor's real range: 600 (MTF-02P) or 250 (MTF-02).
Related guides
- Optical Flow Setup Guide (ArduPilot / PX4 / INAV)
- MTF-01 — User Manual · MTF-01P — User Manual
- Free 3D-printable cases & mounts — includes a 2-inch drone holder
- NxtPX4 V2 — 20×20 mini flight controller
Written and maintained by the Robofusion engineering team. Cross-checked against MicoAir's Chinese user manual (July 2025 revision).