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

Setting it up with an AI assistant? Read our AI setup guide first. It shows you how to point ChatGPT, Claude or Gemini at the official manual for this product, so the answers come from the real pinout and parameter names instead of guesses.

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.