Official MTF-02P optical flow and rangefinder support

Is your feature request related to a problem? Please describe

Hi Betaflight team,

I’m using a MicoAir MTF-02P optical-flow and ToF rangefinder sensor on a SpeedyBee F405 AIO V2 quad. The module is connected through UART and set to MSP protocol.

I can see optical-flow sensor data, but Position Hold is not reliable. The quad drifts, sometimes wobbles, and may fall when Position Hold is enabled. I have tested different physical sensor orientations and checked the X/Y movement directions.

MicoAir officially supports iNav, ArduPilot, and PX4, but there is no clear official Betaflight guide or confirmed setup for the MTF-02P.

Please add official MTF-02P support or documentation explaining the correct MSP protocol, physical orientation, X/Y direction, rangefinder configuration, and Position Hold setup in Betaflight.

I can provide my Betaflight version, CLI diff, wiring photos, debug data, blackbox log, and test video if needed.

Thank you.

Describe the solution you'd like

Please add official support and documentation for the MicoAir MTF-02P optical-flow and ToF rangefinder sensor in Betaflight.

The documentation should explain the correct UART/MSP protocol, physical sensor orientation, X/Y direction, rangefinder setup, and Position Hold configuration.

I can receive optical-flow data from the MTF-02P, but Position Hold drifts, wobbles, and can make the quad fall. Clear official support would help users set it up safely and correctly.

Describe alternatives you've considered

I have tried different physical sensor orientations, checked X/Y movement directions, and tested MTF-only Position Hold.

I also considered using iNav, ArduPilot, or PX4 because the MTF-02P is officially supported there. However, I would like to use Betaflight on my FPV quad and need a confirmed working setup or official support.

Other information

Hardware: SpeedyBee F405 AIO V2 flight controller, MicoAir MTF-02P optical-flow/ToF rangefinder, and GPS with compass.

Firmware: Betaflight 2026.6.1.

The MTF-02P is UART-connected and set to MSP protocol. I tested it indoors and outdoors, with MTF-only Position Hold, multiple sensor orientations, and X/Y direction checks.

I am willing to provide wiring photos, CLI diff, debug data, blackbox logs, and flight-test video if a developer needs them.