Setup Optic Flow&Lidar(MTF-01) For INAV6 To Make Drones Hover And Fly Indoors Better
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- Опубликовано: 20 сен 2024
- MTF-01 is an optic flow & lidar sensor developed by MicoAir Tech. It uses UART to output data and is compatible with mainstream open-source flight controllers such as Ardupilot, PX4 and iNav.
You can get this module from AliExpress : searching for "MTF-01" or "MicoAir Tech Store" on AliExpress. Get more detail from our official website:
micoair.com/ind...
CLI Command in the video：
set debug_mode= FLOW_RAW
set inav_allow_dead_reckoning=ON
set nav_max_terrain_follow_alt = 200
set inav_max_surface_altitude = 200
set nav_mc_vel_z_p = 150
set nav_mc_vel_z_i = 250
set nav_mc_vel_z_d = 25
set nav_mc_pos_xy_p = 80
set nav_mc_vel_xy_p = 50
set nav_mc_vel_xy_i = 40
set nav_mc_vel_xy_d = 60
save
Some files for 3D printed:
MTF_01_optical flow & lidra sensor holder For 2 Inch FPV Drone
www.thingivers...
MTF-01 Optical Flow & Lidar Sensor Case
www.thingivers...
MTF-01_3D_Model
grabcad.com/li...
Very brave putting your hands so close. This looks more effective than the lidar I currently have installed on my cinewhoop drone. I think I will buy one as a replacement. Thanks for the detailed setup video.
Why hands being close matter
@@jamessawyer8744 the props may not cut through the bone, but they will cut to the bone.
@@kurtzFPV I thought you meant cause the lidar. I heard when you start cranking up the vtx the radio waves can be cancerous
cranking up?@@jamessawyer8744 ... shouldn't digital be ok? I could see that being a problem with analog vtx. but what the heck do i know..
I cannot get this to work in inav 7.1 .2. the sensor readout is responding in configurator
Yo! . .finally got it working with inav7 . .I had to reflash the controller to get it to work without the satnav . . I am a total noob with most of my flying being virtual . . . have a nice day . jeeze it took forever to sort. . .finally works like 20 dollar drone from aliexpress and can float gracefully indoors . . fantastic
Good. Very useful. Another order is coming 😊
Just ordered one as a result of this video. Looks great!
Awesome 👌 . Excellent tutorial and highlighting the CLI commands in red 👌.
dji stabillity. Now thats what i'm talking about. I'm this close to doing same without the optical flow because low altitude is not my intentions. Wish me luck.
Great video. Does the sensor stabilise slow flight forward so it is in a straight line, the normal DJI drones do? Or is it just for hover only?
I made it using MFT-02, When I took off I turned AltHold, the drone was keeping altitude for a while but than start to bounce. When I tried to correct altitude pushing a little bit of throthle the drone smashed up on the celling. All props, tho motors one esc and gps module are gone. That is all for Hovering and Flying Indoors.
I will try this soon with inav. if money permits. cool sensor 😊
Great result 😊
Works like charm do a rugged testing on mtf sensor only flight😮
hello, It is a good video ! Can i use this sensor on MAMBA MK4 flight controller ???
This is so cool!
i see you set max terrain follow altitude to only 200 cm... isnt this unit accurate up to 800 cm as in the specs?? will it work OK at 800 cm?? i want it for fixed wing landing
In INAV 7.1.1 using Matek F765 wse FC after following ure instructions both flow and sonar show ready but only sonar is active flow dose not activate, what did I miss
i had same issue
I bought the fake one and now I have the real one
@shelterproses7267 I was sent one without both sensors, and it will say INAV on the box
Nice!! Great module
😄Thanks!
Афигеть, оно работает лучше чем на mavic mini
Hello, I only installed an optical flow meter to keep a certain distance from the ground, but when I turn on the hover mode, my drone rushes directly upwards. How can I solve this situation?
Bro you’re nuts putting your fingers near those blades. My buddy had to go to the hospital for doing that with a bigger delivery drone :(
I've got my hands on a second MTF-01 and this second one does not seem to work as well.
iNav 7.1.2
I work with ESP automation and I have a TTL here.
The same issue happened on both MTF-01 when trying to connect to the PC. When I set the COM port and click connect. Program crashes.
Hola realicé la compra pero me enviaron un MT-01, cuál es la diferencia con respecto al MTF-01?
What drone frame is that ?
if this module has 8meter range then why set inav_max_surface_altitude = 200
it takes no effct for inav to set over 200
Unfortunately it's not working out of the box with the settings just to enable it. It need a lot of effort for tweaks and stuff to apply so it can fly like this... Talking for ardupilot.
Amazing ❤
how to change direction sensor?
does this work without magnometer or GPS? I've configurated everything but the drone is still flying normally
May need magnometer.
Thanks
GOOD JOB🎉
hi ahmetburhanyaman, have you become a flat earther yet?
Yesssss
Excellent video, I want to put it on my drone, I didn't know what could be done. A question about the monitor support, where can I get it? I have a jumper station and I want to put the monitor on it like this
You need a monitor and a 3D printed bracket to hold it in the remoter.
thanks for this video. can we use other opti sensor like the matek and is the baro mandatory for this project? thanks
Hi,
I built a beatiful drone and used MTF-01 on it. It flew perfect but once it got satalites it flew to one side and crashed. I want to know if set inav_allow_dead_reckoning=ON this CLI command should be set to off? Could you please let me know why it crashed? Thank you. I will upload the video so you can see what happened. I will let you know once it is uploaded. In the meantime please do let me know your thoughts.
When it got satalites，INAV will use the GPS instead of optical flow, so you need to make sure if your GPS&compass can work normaly in the poshold mode.
Thank you for quick response. You are right. I disbled gps and it flies perfect. Do you have any advise on how i setup gps on inav? I am new to inav and this is my first build. Thank you.@@MicoAirTech
May be you need to confiture the GPS and compass correctly, can refer to the tutorials on our official website: micoair.com/index.php/gps_m10g-5883/ @@drvimalan
Thank you so much! I will order that gps from your website! @@MicoAirTech
Hi, i am having problems with osd icons on my goggles. Using MicoAir405 Flight Controller and inav 7. the icons are not showing in the positions that are set on the computor@@MicoAirTech
it works as well as ryze tello
Now we have Brushless Ryze Tello!
Great work! Have you tried implementing this with gps+compass turned on? INAV documentation indicates that setting dead reckoning ON could cause unexpected results. Have you found it possible to transition the position hold capability between indoor (op flow + lidar) and outdoor (gps+compass)?
We will try and tell you the results.
@@MicoAirTechAwesome that would be great! So is it correct that this sensor has a max 8m height capability of position hold?
@@MicoAirTech if this ganna work , I will equip it on my several drone . Hope you work out soon !!
@@MicoAirTech Also interested in this. Today i received your MTF-01 (THANKS!!!) and already got it to work great indoors (need todo a bit more tuning to reduce the fast wobbles but it works great !!!). But also have a gps/compas so will the much increased NAV tuning parameters not negatively affect alt/poshold when flying at lets say 50 meters with my quad ? Do i maybe need 2 profiles and switch between them mid flight or is there a better solution that works for both so i can safely navigate between low level BAR/MTF-01 controlled flights and higher baro/gps/mag controlled flights.
@@tachyonpost1472 We are also testing this. The PID used for optical flow indoor flight in the video are indeed slightly larger for GPS mode. Maybe we can find a compromise params, or maybe really need two profiles.
Do you need a gps module and magnetometer for this setup or not necessary?
For indoor althold only LiDAR and opticalflow are needed.
@@piotrkojder7177 nav option are not available without GPS and barometer...
Superb
This is an interesting project! One thing I don't understand: can i use any flight controller with the mtf-01 and then just flash inav instead of beta flight (can I even use betaflight?) or do I need to use the very specific FC shown in your video?
Only these fc firmware can support it: INAV Ardupilot PX4. Not include betaflight.
Great project. Followed this video step-by-step with Cinebot30 and INAV 7.0.1 but the quad is bouncing up and down in the air. Not hovering steadily in one place. All sensors are calibrated. Using geprc m10 dq gpa with baro. Do I need to adjust PIDs?
Have you tried althod mode only using barometer before? What is the effect?
@MicoAirTech I haven't tried it. I will do some more tests today. Maybe I will downgrade to INAV 6 just to make sure I have everything set up exactly as you. I also think that I need to redesign the gps mount as at the moment with gps antenna faces upwards barometer is hidden inside the mount and it isn't getting any air in. Do you think that might be the problem?
@@PowerLoop-media I think you should try the althold with barometer first to make sure that the IMU and BARO are suitable for automatic flight, because even if you use MTF-01 or other range sensor, it still rely on the data of these two sensors.
Nice!!!! Just like DJI drone did🎉
I followed instructions and my 7 inch quad cant poshold. INAV 7.1 quad dont lock in position just slowly drist in direction i moved the quad before stick release.
You can have a try with INAV6.1.1or7.0, 7.1 haven't been tested.
Hi does the Micro Assistant software for changing the protocol of the module work on mac? or is it windows only?
For windows only
Is there a better lidar for range? MTF-01 says only 8m..
I wish somebody made these as a package - completely built and ready to fly. Any ideas if that is a thing?
I do it in Brazil. Find someone who can do it in your country
I'm running the same stack,with DJI RunCam Link wasp,elrs, and the micoair GPS unit all that seems to work great on the build, however when I try adding the MTF-01 Sensor it turns red at the top of inav and hardware health has a red x. I followed this video exact. Any suggestions? INAV 7.1
And one more thing I noticed your sensor has green LED mine flashes blue
INAV 7.1.1 has some bug with sensor, need to update to 7.1.2. Also you need to check if the output protocol of the MTF-01 is MSP.
So in ports tab MTF-01 Not MSP? @@MicoAirTech
I have one installed but when i go to the sensor tabs and highlight debug, i get nothing moving on the screen when i move the quad, if i highlight sonar i get a reading for it but nothing else.
Have you used MicoAssistant to configure the module protocol to MSP?
@@MicoAirTech yes, i am trying inav 7.0 RC so it could possibly be that that is the issue. I do think the mtf01 is working.
@@dobergoose1333 what inav u use?
Please help me~~~ Please~~
I bought MTF-02, FC is Speedybee F405 V4, and I connected it to Rx3, Tx3, 5v, G.
The FC firmware is iNav 7.1.2.
When connected, the MTF-02 LED has a blue light.
Referring to this video, I set Ports to UART3 as MSP, and Rangefinder and Optical flow as MSP in Confuguration.
So far, Flow and Sonar appear red in the sensor display window at the top of iNav Configurator 7.1.1.
When you status from the CLI, the values are as follows.
INAV/SPEEDYBEEF405V4 7.1.2 Jun 1 2024 / 00:46:25 (4e1e59eb)
GCC-10.3.1 20210824 (release)
System Uptime: 51 seconds
Current Time: 2041-06-28T01:04:00.000+00:00
Voltage: 0.16V (0S battery - NOT PRESENT)
CPU Clock=168MHz, GYRO=ICM42605, ACC=ICM42605, BARO=SPL06, MAG=QMC5883, RANGEFINDER=MSP, OPFLOW=MSP
STM32 system clocks:
SYSCLK = 168 MHz
HCLK = 168 MHz
PCLK1 = 42 MHz
PCLK2 = 84 MHz
Sensor status: GYRO=OK, ACC=OK, MAG=OK, BARO=OK, RANGEFINDER=FAILING, OPFLOW=FAILING, GPS=OK
SD card: Startup failed
Stack size: 6144, Stack address: 0x10010000, Heap available: 1828
I2C Errors: 0, config size: 10467, max available config: 131072
ADC channel usage:
BATTERY : configured = ADC 1, used = ADC 1
RSSI : configured = ADC 3, used = none
CURRENT : configured = ADC 2, used = ADC 2
AIRSPEED : configured = none, used = none
System load: 10, cycle time: 501, PID rate: 1996, RX rate: 9, System rate: 9
Arming disabled flags: NAV HWFAIL RX CLI NOPREARM DSHOTBEEPER
OSD: MSP DisplayPort: BetaFlight Compatability mode (HD) [53 x 20]
VTX: not detected
GPS: HW Version: UBLOX10 Proto: 34.09 Baud: 115200
GNSS Capabilities:
GNSS Provider active/default
GPS 1/1
Galileo 1/1
BeiDou 1/1
Glonass 1/0
Max concurrent: 3
What's the problem?
has this been updated to work on inav 7.1.2 as ive followed this setup video and mine is not locked in like this performs like still using gps?
We test it well on inav 7.1.2. By the way 7.1.1 has some bug and doesn't work with it.
Outstanding info. how well does the drone perform in acro mode with the optic flow sensors engaged ?
Optic flow can usually only be used in positioning mode（poshold mode).
can you help me with parts name that you used in this drone and software to setup.
Nice video, how does the sensor compare to Matek optical flow and lidar sensor ? Does the IR light from distance sensor help the optical flow camera in dim areas ?
Hi. MTF-01 has a more powerful ranging sensor with a range of 8m (according to the environment). It can work outdoors and in the sun, while matek's cannot. In addition, MTF-01 can not only be used for INAV, but also compatible with Ardupilot and PX4 flight controller.
I'm more interested in the optical flow sensor performance@@MicoAirTech
They all use PWM3901, which is the same in some way, but the optical flow sensor itself cannot work alone in the flight controller and must rely on distance measurement, so the performance of the optic flow is related to the range sensor.@@flowrfpv
can i use this on speedybee f405 fligtcontroller?
Hello there.
I have bought and installed the MTF-01 sensor.
Because of the limitation for the wires on my drone I had to position the sensor as if it was installed for Ardupilot/PX4. But I use INAV. Can you explain me how I can change the orientation position of the sensor in INAV?
You need to set the module's orientation to 180° by using the MicoAssistant software.
@@MicoAirTech Thanks! 👍👌
How did you get it to work indoors, with on GPS available? Mine is doing nothing indoors
Set dead reckoning for indoors
@@anothertime is it works on latest inav or need to set particular version? I tried on latest available
Wow fantastic build! I would like to buy it, where?
Now you can build it yourself using micoair405 fc and MTF-01 module😄.
Question: I am using MTF-01 on an Eachine Tyro69 quadcopter with MATEKF411 board with only an accelerometer (MPU600) and no other sensor on the board. I have an issue. I can read data from the sensor (MTF-01) but I can't see poshold in the modes. Some people say it is required to have a compass and a GPS module to be able to use poshold with INAV. In principal optical flow sensor that I use can measure the changes in heading and the changes in altitude. Just like a set of GPS and compass sensor would do. Is there a way I can use poshold with my setup? Thanks in advance.
Not only the compass but also the barometer (more important) are necessary for flight controller to enter poshold mode.
What is the 3d print for the sensor mount? Did you dremel out the bottom plate of the Mark 4 frame?
We do have some simple processing on the bottom plate of mark4.
Very cool sensor! Thanks for sharing. If we wanted to try on a cinewhoop for filming indoors with more consistent level, would this be worth testing? The current information says for outdoor use. The indoor areas would be properly exposed and well lit. thinking about trying this on a AOS 3.5 Cinewhoop with O3. Have not used inav before but hoping it wouldn't be too hard to learn - coming from betaflight.
Worth a try😄.
@grahammacdonald9400 In this video we use inav for 5-inch frame. However, we also use ardupilot on a 2.5-inch cinewhoop, don’t think it has anything to do with the size.
MTF-02 looks like what you're looking for.
@@_google_user_ why the mtf-02 vs 01?
@@fokusfpv Much smaller, lighter and better suited for a 3.5 and made for indoor usage. Up to you tough. BTW watch your fingers don't test it by pushing the drone like this guy drones can cut off your finger.
Can u tell me that i am using matek optic flow in inav and the default settings of align _opflow is cw 0 flip how do we know that my module is on Cw 0 flip module arrow is facing front side of fpv
Inav 7.1.1, calibration can not be start. What's the problem
Hi team, i'm already this step but my mtf01 still not detected to inav. I'm already enable msp to port serial
May need to check if the outuput protocol of MTF-01 is MSP through MicoAssitant.
@@MicoAirTech where i can check the output protocol?.fyi i'm using fc speedybee f405 v4
@@dadhangmaen You can refer to this tutorial: micoair.com/index.php/2024/05/07/configure_mtf_01_sensor_by_using_ardupilots_serial_passthrough_function/
I have the matek optical flow. Never hooked it up my question is the one you used better option?
I think this one may be a better choice😃
is it possible to get the settings above for Inav 7.1.1 or are they still the same?
Better use inav 6.1 or 7.0
Good but how to setup to ardupilot ?
which flight controller is used? and can i setup the fpv FC with ardupilot or px4 insted of betaflight. or do ineed to do some process to convert the FC firmware from betaflight to px4?
we use the MicoAir405 with ardupilot&inav firmware. The betaflight firmware doesn't support opticalflow and poshold mode.
Please tell me the specifications of the drone, controller and monitor you are using
Frame: Mark4 5inch Motor: RS2205 2300kv Batt: 21700 4s1p Controller: MicoAir405 v1.2 (our product) with INAV6.1 ESC: BLS 4IN1 45A
Can i send you a stick to push the drone during demos? Worried about your fingers!
on 2:37, does those codes apply to version 7.1.1?
Also, do you enable the PosHold switch during flight or before take-off?
inav 7.1.1 may have some problem, you can try with 6.1 or 7.0, and inav not support take off under poshold mode.
@MicoAirTech I got 2 of those MTF-01. Installed one on my iFlight NAZGUL and the other one will be on Chimera 7 v2. I'll downgrade to ver 6.1. Thank you very much for the info and thanks for sharing the setup.
Is there any reason this wouldn't work on my GEPRC Crown HD? It has a F722 HD BT V2 flight controller. I'm using INav and I'm not getting anything remotely close to the video. I'm following along exactly and I'm no noob. Both icons show red instead of blue. CLI was cut and pasted. MSP settings for both sensors in Config tab. I'm on UART 5, as I do not have GPS on the drone. At one point I did and it worked fine so I know the UART should be good.
Hi, according to your description, the reason may be that the output protocol of MTF-01 is not configured as MSP. You can refer to the video start from 5:40.
@@MicoAirTech I did that prior to installing the sensor on the drone. Set it to MSP and written to sensor. The sensor gives readings in the assistant GUI just fine but flatlines in INav (debug 1, 2 and 3). Both icons are red and there is no option for Nav holds in the modes tab either. I'm assuming that's because there is no sensor readings. Is there a compatibility issue with the FC I'm using? UART 5 and UART 3 are unused on my FC because they are both used if using GPS compass combo, which I'm not. UART 1 is MSP and DJI, UART 2 is Rx and UART 4 is Bluetooth. In the INav configurator I have the option of UART 1,2,4,5,6. UART 3 is not even listed for some reason and the board does not have a 6th UART.
@@snowhack8903 Icons are red means the module not be recognized at all. You can join our telegram groupd(t.me/+Sba8nLdHR8ouJmGj) to discuss online, may be the connection or the uart port have some problem？
@@MicoAirTech Says link expired
@@snowhack8903 t.me/+Sba8nLdHR8ouJmGj
Hey can you help me fixing my inav quad issue.
Very nice..👍what FC are you using?
MicoAir405，which made by us，F405+BMI088
@@MicoAirTechcan you please share the Link..where to buy?thx
@@Sam-gr8pl www.aliexpress.us/item/3256805966810380.html
@@MicoAirTech Why are there no sales to Türkiye? !
@@cetinkaya4436 Retail goods shipped to Türkiye are subject to very high tariffs.
Quelle fc utiliser vous pour cette configuration pour le capteur ? Merci
При заказе я не уточнил что нужен под inav, похоже он пришел под ardupilot
Где скачать micoassistent? И как перепрошить на inav?
Sadly no shipment to germany or europe. I would love to test this sensor! Ist there anywhere else i can buy ?
Hi, can't you get this module from AliExpress?
They really need to make BNF drones with this setup
Good suggestion😁
I can if needed
Like a 1 off? or a mass production? @@fpvponoxt
I get 2 iNav and I waiting for BTF version too 😁
Как только не подключал но sonar and flow горит красным . на самом датчике горит синий светодиод. Inav 6.1
I would like to keep up with the developments and testing you mentioned in the comments arleady. Do you have a facebook group where we could discuss things?
No yet, but we can create one.
Hello, my name is Fábio, I'm from Brazil. How do I contact you to purchase the FC Micoair F405?
Hi, Fábio. You can purchase the MicoAir405 fc from our aliexpress store: www.aliexpress.us/item/3256805966810380.html
Will this also works at high altitude? Over 1000m ?
Om bisa aja 1000m 😂
@@serang maksudnya kl mau alt hold di atas gunung/kawah. Saya suka long range ke puncak gunung soalnya. Itu 2000m lebih alt nya dr bawah
Kan cuma 8 m om di spesifikasi ny
Hello why my quad climbing fast when i enter the mode?
Tengo el mismo problema, solucionaste?
can it climb stairs ?
Hi, does this flight controller support djo O3 system?
MicoAir405v2 flight controller supports DJI O3: micoair.com/index.php/flightcontroller_micoair405v2/
Thank you! Where can i buy tjis? @@MicoAirTech
Can i install/soldering it in sda scl pad.. (i2c)
It can't. Only uart port is supported.
@@MicoAirTech okay. So i will buy the micoair f405 fc with many uart slot on it. What is the difference between mico air f405 v1 and f405 v2? Because there is no explanation in micoair website
Did this mtf-01 works well with speedybee f7v3?
Should be work well on INAV6.1 or 7.0.
@@MicoAirTech which uart can be used for mtf-01, because i had tried in my speedybee f7v3 in uart 3 and my fc is error,
@@ArikaFortuna Do not use soft serial, F722 controller may not have enough serial port.
@@MicoAirTech so where should I solder it, on which solder pad,.my fc only have 5 uarts, for vtx, receiver, fpv cam, gps and telemetry. I have removed the sensor now because I don't know where to solder it. please give me a guide, thanks
@@ArikaFortuna tengo la speedybee f7v3, soldé en uart3, la configuración es así: uart 1 dji O3, uart2 RX, uart3 mtf-01, uart4 esc telemetría, uart6 GPS, sería genial si tuvieras la o3, tu complicación es por los puertos uart
what motor did u use?
Im getting a rangefinder failure.. only one lens lights up red
Any detail？
Just ordered one, does it come with an housing? If not do you have a tpu print that can be used ?
(CAD is my enemy :) )
Sorry, this module does not provide a housing or print shell at present😂
@@MicoAirTech Will try to make one ;) and send it to you. More later then sooner as i am newbie to cad
Now the 3D print file link has been shared in the video description
@@MicoAirTech Thank you so much !!! Very nice, I will order 2 more now that i can print a mount !!
Would this software works in Mamba F22 flight controller ??
It would, if it supports INAV firmware and has a barometer
Have you been able to try it with betaflight?
Sorry, but betaflight does not support either position mode and optical flow😂
F405 speedybee woring ?
I was really hoping this would be for the Matek Optical Flow 3901-L0X - any tips on that?
Is this system similar to what the Avata uses?
Not completely. Although they are based on visual sensors, only two -dimensional image data is calculated by optical flow, and VIO technology similar to Avatar uses three -dimensional.
can i flash manba f405 mk2 with inav?
Where can I buy the drone mounting plate for the MTF-01?
Need 3D printing, we can provide some files, but not necessarily applicable to all frames.
That would be great !!! I bought recentlly a sensor and was planing to 3D print a housing. The files will speed up the process @@MicoAirTech
The 3D print file link has been shared in the video description @@alexciru9820
is that the maxium height your lidar goes?
The maximum range of the lidar can reach 8m, and it can usually reach 4-5m on ordinary ground.
Hi, what is the device at the back of the quad, with the green light?
That is our receiver call "TRS": 2.4G sbus receiver together with long range telemetry radio.
@@MicoAirTech ah ok, great. so all the position hold is being handled by the MTF-01?
@@paulrobinson270 Yes, it is positioning through flight controller + MTF-01 in the video, also you can use GPS instead when fly outdoors.
@@MicoAirTech excellent thank you. I will give it a go. Looks great
could MTF-01 be used on inav7 ?
Yes it can.
please spec your quad
Can add more for front back and side way?
MTF-01 is an optical flow sensor and can only be installed downwards, but we have other range sensors products such as MT-01/MT-15, which can be installed in other directions (front back or side way).
If use more than one sensor, how to setup?
need a lidar with better than 8 meters
😂understand, but lidar with a high range (>10m) cannot work well on smooth surfaces.