MT-06

Specifications

• Interface Mode: UART(115200); I2C; 
• Protocol: Micolink/ Mavlink(Default)/ MSP/ I2C/ I2C_NOOPLOOP
• Output Rate: 50Hz
• Firmware Supported: Ardupilot/PX4/INAV/FMT
• TOF Range: 6m@90% reflectance/10KLux; 
• Center Wavelength: 940nm
• Dead Zone: 2cm
• Ranging Accuracy: 4cm(<2m@90% reflectance); 1.5%(>2m@90% reflectance)
• Power Consumption: 100mW
• Supply voltage: 5V

Physical

• Dimensions: 16 x 12 x 10mm
• Weight: 0.8g

Setup Tutorial For Ardupilot(4.1.x-4.6.x)

Step 1:

Configure the MT-06 output protocol as “mav_apm” , by using MicoAssitant.

(Default settings, feel free to skip)

Step 2:
Connect the MT-06 module to the serial port of the flight controller, such as Telem2 on pixhawk.

Step 3:
Configure these parameters in the Mission Planner
SERIALn_BAUD 115
SERIALn_OPTIONS 1024 (don’t forward)
SERIALn_PROTOCOL 1
RNGFND1_TYPE 10

n depends on which serial port the MTF-01 connected, for example, n=2 when it connect to Telem2.

Step 4:
After that, we need to reboot the flight controller or just refresh the parameters in Mission Planner.
And then these parameters need to be configured.

RNGFND1_MAX_CM 600
RNGFND1_MIN_CM 2
RNGFND1_ORIENT 25

When you complete the above steps, you should be able to observe the range sensor data on the Mission Planner’s “Status” page. The “rangefinder1” should have some value.

Setup Tutorial For PX4

PX4(1.11.x – 1.13.x):

MAV_1_CONFIG TELEMn
(n depends on which serial port you connect to）
Reboot the flight controller
MAV_1_MODE Normal
SER_TELn_BAUD 115200 8N1
EKF2_RNG_AID Range aid enable
EKF2_HGT_MODE Range sensor

PX4(1.14- )

MAV_1_CONFIG TELEMn
(n depends on which serial port you connect to）
Reboot the flight controller
MAV_1_MODE Normal
SER_TELn_BAUD 115200 8N1
EKF2_RNG_CTRL Enabled
EKF2_HGT_REF Range sensor