MATEKSYS Optical Flow Lidar Sensor – 3901-L0XMATEKSYS Optical Flow Lidar Sensor – 3901-L0X This sensor works the same way as an optical mouse, helping your iNAV quad maintain position without GPS! This module also integrates a laser time-of-flight range sensor.MATEKSYS Optical Flow & Lidar Sensor SpecificationsOptical Flow: PMW3901Lidar: VL53L0XInterface UARTProtocol: INAV MSPWorking Range: 8cm~200cmField of view: 42 degree(PMW3901), 27 degree(VL53L0X)Minimum Illumination >60LuxInput voltage: 4.5~5.5VPower Consumption: 40mASize: 36*12mm, 2gTipsMake sure Optical Flow lens to ground >2cm for opflow initialization while FC starting up.The Maximum range of VL53L0X is 2m, Altitude hold 0~2m @ throttle 0~100% if VL53L0X is enabled.Any unused UART of FC supports itSonar connection (Trig & Echo) has not been implemented(Click Here For Setting Up Instructions)ArduPilot wiki:https://ardupilot.org/copter/docs/common-mateksys-optflow-3901L0X.htmlhttps://ardupilot.org/copter/docs/common-optical-flow-sensor-setup.html#optical-flow-sensor-testing-and-setupSERIALn_PROTOCOL = 32, “n” is serial number of UART in ArduPilot hwdef, not the FC UART number. On some flight controllers, serial1 is not equal to UART1, Pls checkout FC manual to get corresponding serial number for each UART.SERIAL_BAUD = 115RNGFND_TYPE = 32FLOW_TYPE = 7FLOW_FXSCALER = -800FLOW_FYSCALER = -800Communication between 3901-L0X module and Flight controller via UART MSP V2 protocol supported by INAV and ArduPilot.There is no detailed datasheet of MSP V2 protocol.Pls refer the code in INAV and ArduPilot Githubhttps://github.com/iNavFlight/inav/wiki/MSP-V2https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_MSP/msp.cppIncludes1 x Matek Optical Flow & Lidar Sensor – 3901-L0X
