{"id":6403,"date":"2019-11-13T20:00:54","date_gmt":"2019-11-13T12:00:54","guid":{"rendered":"http:\/\/www.mateksys.com\/?post_type=portfolio&#038;p=6403"},"modified":"2025-11-27T16:03:06","modified_gmt":"2025-11-27T08:03:06","slug":"3901-l0x","status":"publish","type":"portfolio","link":"https:\/\/www.mateksys.com\/?portfolio=3901-l0x","title":{"rendered":"(EOL) Optical Flow 3901-L0X"},"content":{"rendered":"\n<style type=\"text\/css\" data-created_by=\"avia_inline_auto\" id=\"style-css-av-4q8lxv-1ee84c12bbaa335f596da8cf9c743379\">\n#top .av-special-heading.av-4q8lxv-1ee84c12bbaa335f596da8cf9c743379{\npadding-bottom:10px;\n}\nbody .av-special-heading.av-4q8lxv-1ee84c12bbaa335f596da8cf9c743379 .av-special-heading-tag .heading-char{\nfont-size:25px;\n}\n.av-special-heading.av-4q8lxv-1ee84c12bbaa335f596da8cf9c743379 .av-subheading{\nfont-size:13px;\n}\n<\/style>\n<div  class='av-special-heading av-4q8lxv-1ee84c12bbaa335f596da8cf9c743379 av-special-heading-h2 blockquote modern-quote modern-centered  avia-builder-el-0  el_before_av_slideshow  avia-builder-el-first '><h2 class='av-special-heading-tag'  itemprop=\"headline\"  >Optical FLow 3901-L0X<\/h2><div class=\"special-heading-border\"><div class=\"special-heading-inner-border\"><\/div><\/div><\/div>\n<div  class='avia-slideshow av-k2vv1xqa-e616eda2200694b7f07513be918bcc7d avia-slideshow-featured_large av_slideshow avia-slide-slider  avia-builder-el-1  el_after_av_heading  el_before_av_icon_box  av-slideshow-ui av-control-default av-slideshow-manual av-loop-once av-loop-manual-endless av-default-height-applied avia-slideshow-1' data-slideshow-options=\"{&quot;animation&quot;:&quot;slide&quot;,&quot;autoplay&quot;:false,&quot;loop_autoplay&quot;:&quot;once&quot;,&quot;interval&quot;:5,&quot;loop_manual&quot;:&quot;manual-endless&quot;,&quot;autoplay_stopper&quot;:false,&quot;noNavigation&quot;:false,&quot;bg_slider&quot;:false,&quot;keep_padding&quot;:false,&quot;hoverpause&quot;:false,&quot;show_slide_delay&quot;:0}\"  itemprop=\"image\" itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/ImageObject\" ><ul class='avia-slideshow-inner ' style='padding-bottom: 53.344623200677%;'><li  class='avia-slideshow-slide av-k2vv1xqa-e616eda2200694b7f07513be918bcc7d__0  slide-1 slide-odd'><div data-rel='slideshow-1' class='avia-slide-wrap '   ><img fetchpriority=\"high\" class=\"wp-image-8796 avia-img-lazy-loading-not-8796\"  src='https:\/\/www.mateksys.com\/wp-content\/uploads\/2019\/11\/3901-L0X_11.jpg' width='1181' height='630' title='3901-L0X_11' alt=''  itemprop=\"thumbnailUrl\"   \/><\/div><\/li><li  class='avia-slideshow-slide av-k2vv1xqa-e616eda2200694b7f07513be918bcc7d__1  slide-2 slide-even'><div data-rel='slideshow-1' class='avia-slide-wrap '   ><img fetchpriority=\"high\" class=\"wp-image-6410 avia-img-lazy-loading-not-6410\"  src='https:\/\/www.mateksys.com\/wp-content\/uploads\/2019\/11\/3901-L0X_1.jpg' width='1181' height='630' title='3901-L0X_1' alt=''  itemprop=\"thumbnailUrl\"   \/><\/div><\/li><\/ul><div class='avia-slideshow-arrows avia-slideshow-controls' ><a href='#prev' class='prev-slide ' aria-hidden='true' data-av_icon='\ue87c' data-av_iconfont='entypo-fontello'  tabindex='-1'>\u4e0a\u4e00\u9875<\/a><a href='#next' class='next-slide ' aria-hidden='true' data-av_icon='\ue87d' data-av_iconfont='entypo-fontello'  tabindex='-1'>\u4e0b\u4e00\u9875<\/a><\/div><div class='avia-slideshow-dots avia-slideshow-controls'><a href='#1' class='goto-slide active' >1<\/a><a href='#2' class='goto-slide ' >2<\/a><\/div><\/div>\n<article  class='iconbox iconbox_left av-komnc91d-f610d0613cf0862cb20728c776b8759f  avia-builder-el-2  el_after_av_slideshow  el_before_av_tab_container '  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class=\"iconbox_content\"><header class=\"entry-content-header\"><div class=\"iconbox_icon heading-color\" aria-hidden='true' data-av_icon='\ue8d2' data-av_iconfont='entypo-fontello'><\/div><h3 class='iconbox_content_title '  itemprop=\"headline\" >substitute<\/h3><\/header><div class='iconbox_content_container '  itemprop=\"text\" ><h5>STM32L051 has substituted for STM32F051 on 3901-L0X because of \u00a0MCU STM32F051 shortage.<\/h5>\n<\/div><\/div><footer class=\"entry-footer\"><\/footer><\/article>\n<div  class='tabcontainer av-k2vv6h9e-26eba829a27e5346595197753f694725 top_tab  avia-builder-el-3  el_after_av_icon_box  avia-builder-el-last ' role='tablist'>\n<section class='av_tab_section av_tab_section av-2x056r-ac3ae3cf860d888625045aa47440e1d0'  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='tab active_tab' role='tab' tabindex='0' data-fake-id='#tab-id-1' aria-controls='tab-id-1-content'  itemprop=\"headline\" >Gallery<\/div><div id='tab-id-1-content' class='tab_content active_tab_content' aria-hidden=\"false\"><div class='tab_inner_content invers-color'  itemprop=\"text\" ><p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-6416\" src=\"https:\/\/www.mateksys.com\/wp-content\/uploads\/2019\/11\/3901-L0X_2.jpg\" alt=\"\" width=\"1500\" height=\"800\" \/> <img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-6415\" src=\"https:\/\/www.mateksys.com\/wp-content\/uploads\/2019\/11\/3901-L0X_3.jpg\" alt=\"\" width=\"1500\" height=\"800\" \/><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-6435\" src=\"https:\/\/www.mateksys.com\/wp-content\/uploads\/2019\/11\/3901-L0X_W.jpg\" alt=\"\" width=\"1500\" height=\"700\" \/><\/p>\n<\/div><\/div><\/section>\n<section class='av_tab_section av_tab_section av-3ab6k3-10712d635b54a756196aded4682859e3'  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='tab' role='tab' tabindex='0' data-fake-id='#tab-id-2' aria-controls='tab-id-2-content'  itemprop=\"headline\" >Spec.&amp; INAV Settingss<\/div><div id='tab-id-2-content' class='tab_content' aria-hidden=\"true\"><div class='tab_inner_content invers-color'  itemprop=\"text\" ><h3><em><span style=\"color: #0000ff;\"><a style=\"color: #0000ff;\" href=\"..\/downloads\/setup_optic flow_in_INAV_rev1.pdf\" target=\"_blank\" rel=\"noopener noreferrer\">Setting up Optic Flow in INAV<\/a><\/span><\/em>\u00a0 \u00a0PDF manual by digitalentity<\/h3>\n<h4><\/h4>\n<hr \/>\n<h4>Specifications<\/h4>\n<ul>\n<li>Optical Flow: PMW3901<\/li>\n<li>Lidar: ST VL53L0X (max. range 2 m)<\/li>\n<li>Interface UART<\/li>\n<li>Protocol: MSP<\/li>\n<li>Working Range: 8cm~200cm<\/li>\n<li>Field of view: 42 degree(PMW3901), 27 degree(VL53L0X)<\/li>\n<li>Minimum Illumination &gt;60Lux<\/li>\n<li>Input voltage: 4.5~5.5V<\/li>\n<li>Power Consumption: 40mA<\/li>\n<li>Size: 36*12mm (F051 version),\u00a0 2g<\/li>\n<li>Size: 36*13mm (L051 version)\u00a0 2g<\/li>\n<\/ul>\n<h4>Packing<\/h4>\n<ul>\n<li>Module 3901-L0X,\u00a0 1pc<\/li>\n<\/ul>\n<h4>Tips<\/h4>\n<ul>\n<li>Make sure Optical Flow lens to ground &gt;2cm for opflow initialization while FC starting up.<\/li>\n<li>Maximum range of VL53L0X is 2m,\u00a0 \u00a0Altitude hold 0~2m @ throttle 0~100% if VL53L0X is enabled.<\/li>\n<li>Any unused UART of FC supports it<\/li>\n<li>Sonar connection (Trig &amp; Echo) has not been implemented<\/li>\n<li><strong>If your flight controller doesn\u2019t have a barometer detected, you won\u2019t be able to select \u201cNAV ALTHOLD\u201d in modes tab.<\/strong><\/li>\n<\/ul>\n<\/div><\/div><\/section>\n<section class='av_tab_section av_tab_section av-2kjjhv-0c65196534313bd9579e4149decbdcab'  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='tab' role='tab' tabindex='0' data-fake-id='#tab-id-3' aria-controls='tab-id-3-content'  itemprop=\"headline\" >ArduPilot settings<\/div><div id='tab-id-3-content' class='tab_content' aria-hidden=\"true\"><div class='tab_inner_content invers-color'  itemprop=\"text\" ><p>ArduPilot wiki:<\/p>\n<ul>\n<li><a href=\"https:\/\/ardupilot.org\/copter\/docs\/common-mateksys-optflow-3901L0X.html\" target=\"_blank\" rel=\"noopener noreferrer\">https:\/\/ardupilot.org\/copter\/docs\/common-mateksys-optflow-3901L0X.html<\/a><\/li>\n<li><a href=\"https:\/\/ardupilot.org\/copter\/docs\/common-optical-flow-sensor-setup.html#optical-flow-sensor-testing-and-setup\" target=\"_blank\" rel=\"noopener noreferrer\">https:\/\/ardupilot.org\/copter\/docs\/common-optical-flow-sensor-setup.html#optical-flow-sensor-testing-and-setup<\/a><\/li>\n<li>SERIALn_PROTOCOL = 32,\u00a0 &#8220;n&#8221; is serial number of UART in ArduPilot hwdef, not the FC UART number.\u00a0 On some flight controllers, serial1 is not equal to UART1, Pls checkout FC manual to get corresponding serial number for each UART.<\/li>\n<li>SERIAL_BAUD = 115<\/li>\n<li>RNGFND_TYPE = 32<\/li>\n<li>FLOW_TYPE = 7<\/li>\n<li><span class=\"std std-ref\">FLOW_FXSCALER<\/span>\u00a0= -800<\/li>\n<li><span class=\"std std-ref\">FLOW_FYSCALER<\/span>\u00a0= -800<\/li>\n<\/ul>\n<div id=\"gtx-trans\" style=\"position: absolute; left: -35px; top: 45.5938px;\">\n<div class=\"gtx-trans-icon\"><\/div>\n<\/div>\n<\/div><\/div><\/section>\n<section class='av_tab_section av_tab_section av-38pqnn-84302b3dac9d580241899b06a32bfa60'  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='tab' role='tab' tabindex='0' data-fake-id='#tab-id-4' aria-controls='tab-id-4-content'  itemprop=\"headline\" >MSP V2 protocol<\/div><div id='tab-id-4-content' class='tab_content' aria-hidden=\"true\"><div class='tab_inner_content invers-color'  itemprop=\"text\" ><p>Communication between 3901-L0X module and Flight controller via UART MSP V2 protocol supported by INAV and ArduPilot.<\/p>\n<p>There is no detailed datasheet of MSP V2 protocol.<\/p>\n<p>Pls refer the code in INAV and ArduPilot Github<\/p>\n<div><a href=\"https:\/\/github.com\/iNavFlight\/inav\/wiki\/MSP-V2\">https:\/\/github.com\/iNavFlight\/inav\/wiki\/MSP-V2<\/a><\/div>\n<div>\n<div><a href=\"https:\/\/github.com\/ArduPilot\/ardupilot\/blob\/master\/libraries\/AP_MSP\/msp.cpp\">https:\/\/github.com\/ArduPilot\/ardupilot\/blob\/master\/libraries\/AP_MSP\/msp.cpp<\/a><\/div>\n<\/div>\n<\/div><\/div><\/section>\n<section class='av_tab_section av_tab_section av-29anvn-2e80930724de2f1362458e041f62a30f'  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='tab' role='tab' tabindex='0' data-fake-id='#tab-id-5' aria-controls='tab-id-5-content'  itemprop=\"headline\" >Resellers<\/div><div id='tab-id-5-content' class='tab_content' aria-hidden=\"true\"><div class='tab_inner_content invers-color'  itemprop=\"text\" ><p>Including but not limited to<\/p>\n<ul>\n<li><a href=\"https:\/\/air-hobby.ru\/katalog\/product\/3242-opticheskiy-datchik-optical-flow-lidar-matek-3901-l0x.html\" target=\"_blank\" rel=\"noopener noreferrer\">Air-hobby.ru (Russia)<\/a><\/li>\n<li><a href=\"https:\/\/bouldermultirotor.com\/product\/matek-optical-flow-lidar-sensor-3901-l0x\/\" target=\"_blank\" rel=\"noopener noreferrer\">bouldermultirotor.com (USA)<\/a><\/li>\n<li><a href=\"https:\/\/www.getfpv.com\/matek-optical-flow-lidar-sensor-3901-l0x.html\" target=\"_blank\" rel=\"noopener noreferrer\">Getfpv.com (USA)<\/a><\/li>\n<li><a href=\"https:\/\/www.hobbyrc.co.uk\/matek-optical-flow-lidar-sensor\" target=\"_blank\" rel=\"noopener noreferrer\">Hobbyrc.co.uk (UK)<\/a><\/li>\n<li><a href=\"https:\/\/www.phaserfpv.com.au\/products\/matekopticalflowlidarsensor3901-l0x\" target=\"_blank\" rel=\"noopener noreferrer\">Phaserfpv.com.au (AU)<\/a><\/li>\n<li><a href=\"https:\/\/www.racedayquads.com\/collections\/new-products\/products\/matek-3901-l0x-optical-flow-lidar-sensor\" target=\"_blank\" rel=\"noopener noreferrer\">RaceDayQuads (USA)<\/a><\/li>\n<li><a href=\"https:\/\/rc-innovations.es\/sensor-lidar-y-optico-matek-para-controladoras-de-vuelo\" target=\"_blank\" rel=\"noopener noreferrer\">rc-innovations.es (Spain)<\/a><\/li>\n<li><a href=\"https:\/\/www.readymaderc.com\/products\/details\/matek-optical-flow-lidar-sensor-3901-l0x\" target=\"_blank\" rel=\"noopener noreferrer\">readymaderc.com (USA)<\/a><\/li>\n<li><a href=\"https:\/\/www.aliexpress.com\/item\/4000410147643.html?spm=2114.12010611.8148356.53.56cb769e1flaX4\" target=\"_blank\" rel=\"noopener noreferrer\">AliExpress &#8211; onemodel store (CN)<\/a><\/li>\n<\/ul>\n<\/div><\/div><\/section>\n<\/div>\n","protected":false},"excerpt":{"rendered":"","protected":false},"featured_media":8798,"comment_status":"closed","ping_status":"closed","template":"","tags":[126,154,153,155],"portfolio_entries":[42],"class_list":["post-6403","portfolio","type-portfolio","status-publish","has-post-thumbnail","hentry","tag-inav","tag-lidar","tag-optical-flow","tag-pmw3901","portfolio_entries-discontinued"],"_links":{"self":[{"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/portfolio\/6403","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/portfolio"}],"about":[{"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/types\/portfolio"}],"replies":[{"embeddable":true,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=6403"}],"version-history":[{"count":3,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/portfolio\/6403\/revisions"}],"predecessor-version":[{"id":13018,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/portfolio\/6403\/revisions\/13018"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=\/wp\/v2\/media\/8798"}],"wp:attachment":[{"href":"https:\/\/www.mateksys.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=6403"}],"wp:term":[{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=6403"},{"taxonomy":"portfolio_entries","embeddable":true,"href":"https:\/\/www.mateksys.com\/index.php?rest_route=%2Fwp%2Fv2%2Fportfolio_entries&post=6403"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}