MicoAir MTF-01 Optical Flow & LiDAR Sensor — 8m Range, GPS-Free Indoor Position Hold for ArduPilot / PX4 / INAV

📘 Documentation & Guides

• MTF-01 — Full User Manual — specs, wiring, mounting, and what the rated range really means
• Optical Flow Setup Guide — ArduPilot / PX4 / INAV parameters, EKF sources, vibration checklist and tuning workflow
• Free 3D-printable case & mounts · MicoAssistant configurator · Video tutorial

Overview

The MTF-01 combines a downward-facing optical flow camera with an 8 m LED rangefinder in one 4.5 g module — everything a drone needs to hold position indoors without GPS. It outputs over a simple UART at 100 Hz and works with ArduPilot, PX4, INAV and FMT after a few parameter changes. The best cost-performance pick for 3–5 inch (and larger) builds.

Before you fly: the airframe comes first

An optical flow sensor corrects the flight controller's estimate — it cannot rescue a vibrating airframe. Check your IMU vibration numbers, balance your props, then add the sensor: our setup guide walks through the exact checks for each firmware, with a control-system diagram of why the order matters.

Specifications

• Range: 0.02–8 m @ 90% reflectivity (600 lux) · 0.01–5 m @ 70 klux direct sun
• Range accuracy: 4 cm (<2 m) · 2% (>2 m) — LED source, 850 nm, 6° FOV
• Optical flow: 42° FOV, max 7 m/s @ 1 m height, needs >60 lux and ground texture
• Interface: LVTTL (3.3 V) UART, 115200 baud, 100 Hz · Protocols: MAVLink (ArduPilot / PX4), MSP (INAV), Micolink
• Power: 5 V, ~100 mA · Size: 29.3 × 17 × 14.5 mm · Mounting: 24.3 × 12 mm Φ2.5 · Weight: 4.5 g

Rated range is measured against a 90%-reflectivity lab target — expect the full 8 m indoors; over grass or dark asphalt in bright sun, plan conservatively. Full explanation in the manual.

Firmware & protocol

Select your firmware in the options above and the sensor arrives ready for it. Newer production units additionally auto-detect the flight controller's firmware on power-up; any unit can be switched at any time with the free MicoAssistant tool.

Which MTF sensor?

• MTF-01 (this one): best value for 3–5" and larger builds, 8 m range
• MTF-01P: laser rangefinder — 12 m, best in bright sun and over low-reflectivity surfaces
• MTF-02P: 1.5 g micro, outdoor-capable · MTF-02: 1 g micro, indoor only

Package list

• MTF-01 module × 1
• 20 cm SH1.0 4PIN–4PIN cable × 1
• 20 cm SH1.0–MX1.25-6P cable × 1 (for Pixhawk 2.4.8)
• 20 cm SH1.0–GH1.25-6P cable × 1 (for Pixhawk 4/5/6)

Technical Support

Questions before or after your build? Email support@robofusion.net — we respond within 48 hours. First-line answers live at docs.robofusion.net.