MicoAir MT-01P LiDAR Range Sensor

Specifications

• Output Mode: UART 115200; I2C 400K
• Output Interface: LVTTL (3.3V)
• Protocol: Micolink/Mavlink/MSP
• Output Rate: 800-5Hz (50Hz default)
• Firmware Supported: Ardupilot/PX4/INAV/FMT
• TOF Range: 10m@90% reflectance/600Lux; 8m@90% reflectance/70KLux;
• Center Wavelength: 808nm
• Emitting Angle: 1.5 °
• Dead Zone: 2cm
• Ranging Accuracy: 4cm(0.02-2m@90% reflectance);2%(>2m@90% reflectance)
• Light source: LiDAR
• Power Consumption: 500mW
• Supply voltage: 5V

Physical

• Mounting: 24.3 x 12mm, Φ2.5mm
• Dimensions: 33.2 x 20.8 x 16.8 mm
• Weight: 8g
  
  MicoAssitant software can used for configure protocol or other parameter of MTF-01.

  Download it from here.

  Or here.

   

  When you don’t have a USB-TTL module, you may refer to this tutorial:

  Configure MTF-01 Sensor By Using Ardupilot’s Serial Passthrough Function

   

  Protocols

  MTF-01 module integrated with multiple protocols，include：

  • Micolink — a custom protocol, can support FMT
  • MSP — support INAV
  • Mavlink_APM — the mavlink protocol that can support Ardupilot
  • Mavlink_PX4 — the mavlink protocol that can support PX4

  Setup Tutorial For Ardupilot(4.1.x-4.6.x)

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  Step 1:

  Configure the MTF-01 output protocol as “mav_apm”, by using MicoAssitant.

  Step 2:
  Connect the MTF-01 module to the serial port of the flight controller, such as Telem2 on pixhawk.

  Step 3:
  Configure these parameters in the Mission Planner
  SERIALn_BAUD 115
  SERIALn_OPTIONS 1024
  SERIALn_PROTOCOL 1
  FLOW_TYPE 5
  RNGFND1_TYPE 10

  n depends on which serial port the MTF-01 connected, for example, n=2 when it connect to Telem2.

  Step 4:
  After that, we need to reboot the flight controller or just refresh the parameters in Mission Planner.
  And then these parameters need to be configured.
  RNGFND1_MAX_CM 800
  RNGFND1_MIN_CM 1
  RNGFND1_ORIENT 25

  When you complete the above steps, you should be able to observe the optical flow and range sensor data on the Mission Planner’s “Status” page. The “opt_qua” and “rangefinder1” should have some value.

  Step 5:
  After the flight controller has recognized MTF-01, we need to perform some configurations so that the sensor data can be used in EKF fusion.

  If you just need to use optical flow to fly indoors and don’t consider using GPS outdoors, then you only need to configure EK3_SRC1.

  AHRS_EKF_TYPE 3
  EK3_SRC_OPTIONS 0
  EK3_SRC1_POSXY 0
  EK3_SRC1_POSZ 2
  EK3_SRC1_VELXY 5
  EK3_SRC1_VELZ 0
  EK3_SRC1_YAW 1

  But if you need to take into account both indoor and outdoor environments, then you may need to use a method that can switch the EK3 data source. Keep the EK3_SRC1 as default, and set EK3_SRC2 as follows.

  AHRS_EKF_TYPE 3
EK3_SRC_OPTIONS 0
EK3_SRC2_POSXY 0
EK3_SRC2_POSZ 2
EK3_SRC2_VELXY 5
EK3_SRC2_VELZ 0
EK3_SRC2_YAW 1

  Then set the RC6 channel to switch using optical flow as EKF3 source.
  RC6_OPTION 90

  Now you can use RC6 channel to switch between using SRC1 or SRC2 as the data source of EK3.
  When the RC6 value is in the low position, SRC1(GPS) will be used, and in the middle position, SRC2(Optical flow)will be use.

  Step 6:
  When all settings are completed, switch to loiter mode, unlock and take off.

  Sometimes the flight controller may not be allowed to unlock in Loiter mode when the sensor is too close to the ground. You can unlock it in Althold mode and then switch to Loiter mode after taking off.

  Setup Tutorial For INAV

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  Setup Optic Flow&Lidar(MTF-01) For INAV6 To Make Drones Hover And Fly Indoors Better (youtube.com)

  Note:  INAV  7.1.1 may have some bugs that can not work properly with the sensor. You need to upgrade to version 7.1.2 which have been tested well.

  Setup Tutorial For PX4

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  Setup Optic Flow&Lidar(MTF-01) For Ardupilot&PX4 To Make Drones Hover And Fly Indoors Better (youtube.com)

  PX4(1.11.x – 1.13.x):

  MAV_1_CONFIG TELEMn
  (n depends on which serial port you connect to）
  Reboot the flight controller
  MAV_1_MODE Normal
  SER_TELn_BAUD 115200 8N1
  SENS_FLOW_ROT No rotation
  EKF2_AID_MASK use optical flow
  EKF2_RNG_AID Range aid enable
  EKF2_HGT_MODE Range sensor

  PX4(1.14 )

  MAV_1_CONFIG TELEMn
  (n depends on which serial port you connect to）
  Reboot the flight controller
  MAV_1_MODE Normal
  SER_TELn_BAUD 115200 8N1
  EKF2_OF_CTRL Enabled
  EKF2_RNG_CTRL Enabled
  EKF2_HGT_REF Range sensor

  Reboot the flight controller

  SENS_FLOW_ROT No rotation