An Unmanned Aerial Vehicle is a non-piloted airplane designed to operate in dangerous and repetitive situations. With the advent of UAV's civil applications, UAVs are emerging as a valid option in commercial scenarios. If it must be economically viable, the same platform should implement a\udvariety of missions with little reconguration time and overhead.\udThis paper presents a middleware-based architecture specially suited to operate as a exible payload and mission controller in a UAV. The system is composed of low-cost\udcomputing devices connected by network. The functionality is divided into reusable services distributed over a number of\udnodes with a middleware managing their lifecycle and communication.\udSome research has been done in this area; yet\udit is mainly focused on the control domain and in its realtime operation. Our proposal differs in that we address the implementation of adaptable and reconfigurable unmanned\udmissions in low-cost and low-resources hardware.
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