MicoAir MTF-02 Micro Optical Flow & Range Sensor — 1g, Indoor Position Hold for ArduPilot / PX4 / INAV

The MicoAir MTF-02 is an ultra-lightweight optical flow and ranging sensor designed for compact drones where GPS isn’t practical. Weighing just 1g, it combines an optical flow camera with a short-range ToF LiDAR sensor, making it particularly well suited to Tiny Whoops, micro drones and other lightweight indoor builds.

Optical flow tracks movement relative to the surface below the aircraft, while the integrated rangefinder provides accurate height information. Together, these measurements can help compatible flight controllers maintain stable position and altitude without relying on GPS — ideal for indoor flight and GPS-denied environments.

The MTF-02 communicates over a simple 3.3V UART connection at 50Hz and supports ArduPilot, PX4 and INAV, as well as MicoAir’s own Micolink protocol. Newer production versions can automatically detect the connected flight-controller firmware at startup, while configuration and protocol selection can also be handled using MicoAir’s MicoAssistant software.

With a measuring range of up to 2.5m, the MTF-02 is intended primarily for indoor use. Strong sunlight can interfere with the ranging sensor, so MicoAir’s outdoor-capable MTF-02P is a better choice for applications requiring reliable operation outside.

Please note: Optical flow performance depends heavily on the aircraft and surface below it. The sensor requires sufficient lighting and visible ground texture, while excessive vibration can reduce positioning accuracy. Props should be balanced and vibration kept to a minimum for best results.

Which MTF sensor?

• MTF-02 (this one): lightest option, indoor micro drones
• MTF-02P: 1.5 g, 6 m range, works outdoors
• MTF-01 / MTF-01P: 100 Hz data and 8–12 m range for 3–5″+ builds

MTF-02 3D Printed Case:

• Download: STL on MakerWorld