Cosmo v1

Abstract: Cosmo FC v1 is a lightweight, modular flight controller architecture designed for autonomous UAVs with a focus on cost-efficiency, reliability, and expandability. At its core lies the STM32H753 microcontroller, which integrates sensor fusion, digital motor control, and real-time telemetry handling. The system features a dual-stack architecture: an FMU (Flight Management Unit) for navigation and control, and a custom 4-in-1 65A ESC for motor driving and power regulation. Sensors such as an IMU, barometer, and current/voltage monitor are directly embedded in the FMU stack, while GPS, LiDAR, and magnetometer are interfaced via dedicated headers. By eliminating separate compute and I/O boards, Cosmo FC v1 achieves a smaller footprint and reduced weight, making it ideal for mid-sized quadcopters requiring autonomous flight capabilities.