Matek – Optical Flow & LiDAR Sensor 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)

Thread   https://discuss.ardupilot.org/t/msp-protocol-support/57944

ArduPilot latest firmware has supported MSP protocol since Sep.02

• SERIAL_PROTOCOL = 32
• 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