An optical sensor uses a MEMS MMA to scan a narrow laser beam over a transmit FOR to provide active illumination and to correct the beam profile (e.g., collimate the beam, reduce chromatic aberrations, correct the beam profile or wavefront). A staring detector senses light within a receive FOR that at least partially overlaps the transmit FOR. By completely eliminating the dual-axis gimbal, this sensor architecture greatly reduces the volume and weight of the optical sensor while avoiding the deficiencies of known systems associated with either fiber or free-space coupling of the laser beam into an existing receiver.