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.
Introduction
The Cosmo FC v1 is a compact and efficient flight control system designed for UAVs, addressing the challenges of traditional multi-layer or separate-board controllers by using a two-stack architecture. It separates flight management and sensor fusion (FMU) from motor control (ESC), enhancing modularity and reducing complexity.
The FMU stack centers on the high-performance STM32H753 microcontroller and integrates various sensors, including a 6-axis IMU, barometer, current sensor, magnetometer, GPS, and LiDAR for navigation and precision landing. It controls motors by sending digital DShot600 signals to the ESC stack, which features a custom 4-in-1 ESC powered by an STM32G431 MCU, capable of motor commutation and providing telemetry data back to the FMU.
Power is efficiently managed, supplying the FMU via a regulated 5V line from the ESC board, with onboard voltage regulation for sensors and MCU. Communication interfaces (SPI, I²C, UART) are carefully designed for noise immunity, while the PCB layout emphasizes noise isolation, short trace lengths, decoupling, thermal management, and modularity.
Tested on a 4-motor quadcopter, the Cosmo FC v1 demonstrated stable autonomous flight, accurate altitude hold, reliable telemetry, and effective USB-C configuration, validating its hardware and software design for real-world UAV applications.
Conclusion
Cosmo FC v1 offers a compact and affordable solution for developers, researchers, and hobbyists building autonomous drones. By combining high-performance real-time processing, robust sensor integration, and digital motor control into a 2-stack PCB, it reduces complexity while maximizing functionality. Its design allows for future expansion to include image processing via Raspberry Pi CM5 or UAVCAN-based ESCs. The system is ideal for medium-lift quadcopters, VTOL research platforms, and educational robotics.