Arrow-air/project-quiver

Project Quiver

An open-source, modular quadcopter platform for developers and operators.

Project Quiver is a 25 kg MTOW drone with 5-8 kg payload capacity, three hot-swappable attachment interfaces, and a distributed electronics architecture. Built for reliability, field serviceability, and customization.

Developed by Arrow Air and released under the CERN Open Hardware Licence.

Key Features

• Modular payload system — Three quick-release interfaces (bottom, left, right) for mission equipment
• Dual GNSS with RTK — Centimeter-level positioning with backup redundancy
• Distributed PCB architecture — Four custom boards that can be individually serviced
• 25-31 min hover endurance — Tattu 14S 30Ah smart battery with Hobbywing X6 Plus propulsion
• ArduPilot firmware — Standard QGroundControl/Mission Planner compatibility
• Weatherproof design — Sealed cockpit with rain canopies and drip-proof geometry

Documentation

📖 Full Documentation — Platform overview, capabilities, and roadmap

The docs/ folder is hosted on the Arrow website.

| Resource | Description | |----------|-------------| | Assembly Guides | Step-by-step build instructions | | Engineering Reports | Technical details for each prototype | | Meeting Notes | Engineering call notes |

Repository Structure

project-quiver/
├── docs/                    # Documentation (hosted at arrowair.com/docs/quiver)
├── src/
│   ├── quiver/              # CAD assembly — build123d Python package
│   ├── pcb/                 # KiCad PCB designs (4 custom boards)
│   ├── printing/            # 3D print profiles and settings
│   └── manufacturing/       # DXFs and cut sheets for CNC/laser
├── flight-test/             # Historical flight test logs
└── task-grant-bounty/       # Bounty and grant task specifications

CAD Assembly

The CAD source is a build123d Python package that composes STEP files into the full drone assembly. This enables programmatic CAD generation and version-controlled mechanical design. See src/quiver/ for details.

Getting Started

Want to build one? Start with the Assembly Guides.

Want to develop attachments? Check out:

• Possible Attachment List
• Priority Attachment Requirements

Want a dev-kit? Dev-kit drones are available for loan to developers with promising projects. Join the Arrow Discord to learn more.

Contributing

We welcome contributions across:

• Attachments — Design new payloads for the modular interfaces
• Electronics — PCB improvements and new sensor integrations
• Mechanical — Structural design and manufacturing optimization
• Software — ArduPilot configs, companion computer features, tooling
• Documentation — Guides, tutorials, and translations

See CONTRIBUTING.md for guidelines.

Community

• Discord — discord.gg/arrow
• DAO Forum — dao.arrowair.com
• Flight Tracking — project-flight-tracking.vercel.app

License

CERN Open Hardware Licence Version 2 - Strongly Reciprocal (CERN-OHL-S)