MATEKSYS OPTICAL FLOW & LIDAR SENSOR 3901-L0X

http://www.mateksys.com/downloads/setup_optic%20flow_in_INAV_rev1.pdf 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 (F051 version),  2g Size: 36*13mm (L051 version)  2g Packing Module 3901-L0X,  1pc Tips Make sure Optical Flow lens to ground >2cm for OpenFlow 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 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 MSP V2 protocol  Communication 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 Github https://github.com/iNavFlight/inav/wiki/MSP-V2 https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_MSP/msp.cpp