We present a Tapped Delay Line (TDL)-based Time to Digital Converter (TDC) using Wave Union type A (WU-A) architecture for applications that require high-precision time interval measurements with low size, weight, power, and cost (SWaP-C) requirements. The proposed TDC is implemented on a low-cost Field-Programmable Gate Array (FPGA), Artix-7, from Xilinx. Compared to prior works, our high-precision multi-channel TDC has the lowest SWaP-C requirements. We demonstrate an average time precision of less than 3 ps and a Root Mean Square resolution of about 1.81 ps. We propose a novel Wave Union type A architecture where only the first multiplexer is used to generate the wave union pulse train at the arrival of the start signal to minimize the required computational processing. In addition, an auto-calibration algorithm is proposed to help improve the TDC performance by improving the TDC Differential Non-Linearity and Integral Non-Linearity.