Modular Open System Architecture for Low-cost Integrated Avionics (MOSA LINA)

Evolving vehicle configurations and mission-specific requirements pose persistent integration challenges in experimental vehicles, often resulting in platform-dependent software architectures and extended development timelines. These delays are particularly problematic in a research setting, where the primary objective is experimentation rather than developing the supporting test infrastructure. As mission objectives expand, vehicles must incorporate new sensor modalities, often requiring low-level software modifications that reduce system agility and increase integration overhead. This paper introduces a Modular Open System Architecture for Low-cost Integrated Avionics (MOSA LINA), designed to streamline the configuration, deployment, and reuse of onboard computing and sensor systems. The architecture emphasizes plug-and-play compatibility, modular ROS-compatible design, and platform-agnostic support for ground, fixed-wing, and multi-rotor vehicles. The application of this architecture is demonstrated through high-altitude data collection and autonomous fixed-wing target-tracking case studies. These case studies highlight robust performance across vehicle types, validating the framework's ability to adapt to diverse mission requirements with minimal reconfiguration. Future work will extend interface support and further demonstrate system flexibility.