Matek Systems - Optical Flow & LiDAR Sensor 3901-L0X

Code: MTS-02-05-3901-L0X

THIS MODULE WORKS WITH INAV FIRMWARE(SINCE 2.3) AND LATEST ARDUPILOT FIRMWARE(SINCE 4.1)

Specifications

• Optical Flow: PMW3901

• Lidar: VL53L0X

• Interface UART

• Protocol: MSP

• Working Range: 8cm~200cm

• Field of view: 42 degree(PMW3901), 27 degree(VL53L0X)

• Minimum Illumination >60Lux

• Input voltage: 4.5~5.5V

• Power Consumption: 40mA

• Size: 36*12mm,  2g

Packing

• Module 3901-L0X,  1pc

Tips

• Make sure Optical Flow lens to ground >2cm for opflow initialization while FC starting up.

• Maximum range of VL53L0X is 2m,   Altitude hold 0~2m @ throttle 0~100% if VL53L0X is enabled.

• Any unused UART of FC supports it

• Sonar connection (Trig & Echo) has not been implemented

• If your flight controller doesn’t have a barometer detected, you won’t be able to select “NAV ALTHOLD” in modes tab.

Ardupilot setup (4.1 and above)

ArduPilot latest firmware has supported MSP protocol since Sep.02

• SERIAL_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 = 115

• RNGFND_TYPE = 32

• FLOW_TYPE = 7

Communication between 3901-L0X module and Flight controller via UART MSP V2 protocol supported by INAV and ArduPilot.

Pls refer INAV and ArduPilot Github

https://github.com/iNavFlight/inav/wiki/MSP-V2

https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_MSP/msp.cpp