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Project Quiver

An open-source, modular quadcopter drone platform with a 25 kg MTOW, 5-8 kg payload capacity and three hot-swappable attachment interfaces.

  • Drone
  • Open source
  • 3D printable

Suggested by Robotheca, created by @Arrow-air (opens in a new tab), from github.com/Arrow-air/project-quiver (opens in a new tab). Pinned to commit 3ed4eb2 (opens in a new tab).

Photo and 3D model

Project Quiver, photo from its repository
Photo:@Arrow-air (opens in a new tab)CERN-OHL-S-2.0source file (opens in a new tab)

3D preview converted from github.com/Arrow-air/project-quiver at 3ed4eb2, under CERN-OHL-S-2.0. View the original files from GitHub (11.5 MB) (opens in a new tab)

Weight
25 kg
Payload
8 kg

What it can do

Written by Robotheca from the project's documents.

  • Modular quadcopter platform with 25 kg MTOW and 5-8 kg payload capacity
  • Three hot-swappable quick-release attachment interfaces (bottom, left, right) for mission equipment
  • Dual GNSS with RTK positioning and backup redundancy
  • Telemetry streaming from flight controller (MAVLink) and battery (UAVCAN) to a cloud Hub
  • Remote job dispatch: scan FC logs, download FC logs, flash firmware, deliver files
  • Custom payload apps with parser and UI builder, receiving data over REST or WebSocket
  • Camera gimbal control (pan/tilt, zoom, photo, video, mode) via SIYI UDP SDK
  • Live camera streaming via WebRTC through go2rtc

Bill of materials

143 parts
Export parts list (CSV)

143 of 143 parts shown

Parts list
#ComponentQuantityEst. priceSupplier
Airframe Structure
1Upper Plate1$26≈ €23RapidDirect: buy Upper Plate, opens in a new tab
2Middle Plate1$26≈ €23RapidDirect: buy Middle Plate, opens in a new tab
3Lower Plate1$47≈ €42RapidDirect: buy Lower Plate, opens in a new tab
4Cockpit Support Beam, CW Long1$43≈ €38RapidDirect: buy Cockpit Support Beam, CW Long, opens in a new tab
5Cockpit Support Beam, CCW Back2$27≈ €24RapidDirect: buy Cockpit Support Beam, CCW Back, opens in a new tab
6Battery Wall2$49≈ €44RapidDirect: buy Battery Wall, opens in a new tab
7Landing Gear Vertical Tube4$45≈ €40RJXHobby: buy Landing Gear Vertical Tube, opens in a new tab
8Landing Gear Horizontal Tube2$45≈ €40RJXHobby: buy Landing Gear Horizontal Tube, opens in a new tab
9Landing Gear Main Adapter4$30≈ €27RJXHobby: buy Landing Gear Main Adapter, opens in a new tab
10Landing Gear Tube Joint4$13.99≈ €12INNLOI: buy Landing Gear Tube Joint, opens in a new tab
11Landing Gear Foam Wrap4$14≈ €12Amazon: buy Landing Gear Foam Wrap, opens in a new tab
12Foldable Motor Arm Connector4$25≈ €22Alibaba: buy Foldable Motor Arm Connector, opens in a new tab
13Motor Arm Tube4$45≈ €40RJXHobby: buy Motor Arm Tube, opens in a new tab
Supporting Structure
14Attachment Interface Spacer, Left/Right2–design: buy Attachment Interface Spacer, Left/Right, opens in a new tab
15Quick-Release Interface Plate3$34≈ €30Alibaba: buy Quick-Release Interface Plate, opens in a new tab
16Attachment Interface Spacer, Bottom1–design: buy Attachment Interface Spacer, Bottom, opens in a new tab
17Battery Slider2–design: buy Battery Slider, opens in a new tab
18Main PCB Mount1–design: buy Main PCB Mount, opens in a new tab
19BC PCB Mount1–design: buy BC PCB Mount, opens in a new tab
20BC PCB Cover1–design: buy BC PCB Cover, opens in a new tab
21Altitude Sensor Mount1–design: buy Altitude Sensor Mount, opens in a new tab
22GNSS Mount Base1–design: buy GNSS Mount Base, opens in a new tab
23GNSS Mount Clamp1–design: buy GNSS Mount Clamp, opens in a new tab
24PPP Adapter and Beacon Mount1–design: buy PPP Adapter and Beacon Mount, opens in a new tab
25Main Enclosure1–design: buy Main Enclosure, opens in a new tab
26Enclosure Top Cap1–design: buy Enclosure Top Cap, opens in a new tab
27Enclosure Hinge2$10≈ €9JW Winco GN 237-ZD-30-30-A-SW: buy Enclosure Hinge, opens in a new tab
28Enclosure Latch2$10.42≈ €9McMaster-Carr 6082A11: buy Enclosure Latch, opens in a new tab
EquipmentTools, not in the total
29Motor + ESC, Hobbywing XRotor X6 Plus4$120≈ €107Hobbywing XRotor X6 Plus G2: buy Motor + ESC, Hobbywing XRotor X6 Plus, opens in a new tab
30Propeller, Hobbywing MFP 24x8.0, CW2$20≈ €18Hobbywing MFP 24x8.0 CW: buy Propeller, Hobbywing MFP 24x8.0, CW, opens in a new tab
31Propeller, Hobbywing MFP 24x8.0, CCW2$20≈ €18Hobbywing MFP 24x8.0 CCW: buy Propeller, Hobbywing MFP 24x8.0, CCW, opens in a new tab
32PPP Adapter, CubePilot CubeNode ETH1$121.98≈ €109IR-LOCK (CubePilot): buy PPP Adapter, CubePilot CubeNode ETH, opens in a new tab
33Remote ID Module, DroneBeacon db2011$54≈ €48DroneScout (DroneBeacon) db201: buy Remote ID Module, DroneBeacon db201, opens in a new tab
34Obstacle Avoidance LiDAR, RPLidar S2L1$380≈ €339DFRobot: buy Obstacle Avoidance LiDAR, RPLidar S2L, opens in a new tab
35Radar Altimeter, Nanoradar NRA151$240≈ €214Nanoradar NRA15: buy Radar Altimeter, Nanoradar NRA15, opens in a new tab
36Telemetry Antenna, Front1–included with 3280: buy Telemetry Antenna, Front, opens in a new tab
37Telemetry Antenna, Rear1–included with 3280: buy Telemetry Antenna, Rear, opens in a new tab
38GNSS Module, Primary1$288≈ €257IR-LOCK (CubePilot) Here4; Holybro H-RTK F9P (DroneCAN): buy GNSS Module, Primary, opens in a new tab
39GNSS Module, Backup, Mateksys M9N-G4-31001$125≈ €112Mateksys M9N-G4-3100: buy GNSS Module, Backup, Mateksys M9N-G4-3100, opens in a new tab
40Power Switch, E-Switch PVHC4F23SS3441$16≈ €14Digi-Key PVHC4F23SS344: buy Power Switch, E-Switch PVHC4F23SS344, opens in a new tab
41Gimbal Camera, SIYI A8 mini1$251.63≈ €225SIYI: buy Gimbal Camera, SIYI A8 mini, opens in a new tab
42Telemetry / FPV System, SIYI HM301$282.04≈ €252SIYI HM30 Standard Combo: buy Telemetry / FPV System, SIYI HM30, opens in a new tab
43Obstacle Avoidance Radar, Nanoradar MR821$285≈ €254Nanoradar MR82: buy Obstacle Avoidance Radar, Nanoradar MR82, opens in a new tab
44Main PCB, assembled1$400≈ €357design: buy Main PCB, assembled, opens in a new tab
45Companion Computer, Raspberry Pi 51$200≈ €178Raspberry Pi: buy Companion Computer, Raspberry Pi 5, opens in a new tab
46Ethernet Switch, BotBlox GigaBlox Nano2$95.67≈ €85BotBlox: buy Ethernet Switch, BotBlox GigaBlox Nano, opens in a new tab
47Battery Connector PCB, assembled1$83≈ €74design: buy Battery Connector PCB, assembled, opens in a new tab
48BC PCB Heatsink, 5 mm1$16≈ €14RapidDirect: buy BC PCB Heatsink, 5 mm, opens in a new tab
49Flight Controller PCB, assembled1$25≈ €22design: buy Flight Controller PCB, assembled, opens in a new tab
50Attachment Interface PCB, assembled3$10≈ €9design: buy Attachment Interface PCB, assembled, opens in a new tab
51Flight Controller, Holybro Pix32 v61$296≈ €264Holybro: buy Flight Controller, Holybro Pix32 v6, opens in a new tab
52Battery, Tattu 4.0 14S 30000 mAh1$735≈ €656Tattu Tattu 4.0 14S 30000 mAh: buy Battery, Tattu 4.0 14S 30000 mAh, opens in a new tab
53Remote Control Transmitter1$150≈ €134RadioMaster Boxer: buy Remote Control Transmitter, opens in a new tab
54Transport Case, Nanuk 9761$600≈ €535Nanuk 976: buy Transport Case, Nanuk 976, opens in a new tab
Harness
55Busbar Pair, Positive + Negative2$30.74≈ €27RapidDirect: buy Busbar Pair, Positive + Negative, opens in a new tab
56Harness, Pushbutton1–design: buy Harness, Pushbutton, opens in a new tab
57Harness, BC PCB Signal1–design: buy Harness, BC PCB Signal, opens in a new tab
58Harness, BC PCB SSR1–design: buy Harness, BC PCB SSR, opens in a new tab
59Harness, ESC Power FR1–design: buy Harness, ESC Power FR, opens in a new tab
60Harness, ESC Power FL1–design: buy Harness, ESC Power FL, opens in a new tab
61Harness, ESC Power BR1–design: buy Harness, ESC Power BR, opens in a new tab
62Harness, ESC Power BL1–design: buy Harness, ESC Power BL, opens in a new tab
63Harness, ESC Signal FR1–design: buy Harness, ESC Signal FR, opens in a new tab
64Harness, ESC Signal FL1–design: buy Harness, ESC Signal FL, opens in a new tab
65Harness, ESC Signal BR1–design: buy Harness, ESC Signal BR, opens in a new tab
66Harness, ESC Signal BL1–design: buy Harness, ESC Signal BL, opens in a new tab
67Harness, Side Payload Right1–design: buy Harness, Side Payload Right, opens in a new tab
68Harness, Side Payload Left1–design: buy Harness, Side Payload Left, opens in a new tab
69Harness, Bottom Payload1–design: buy Harness, Bottom Payload, opens in a new tab
70Harness, Altimeter1–design: buy Harness, Altimeter, opens in a new tab
71Harness, 360 LiDAR1–design: buy Harness, 360 LiDAR, opens in a new tab
72Harness, Front Radar1–design: buy Harness, Front Radar, opens in a new tab
73Harness, HM30 Power1–design: buy Harness, HM30 Power, opens in a new tab
74Harness, HM30 Signal A1–design: buy Harness, HM30 Signal A, opens in a new tab
75Harness, HM30 Signal B1–design: buy Harness, HM30 Signal B, opens in a new tab
76Harness, Navigation Primary GNSS1–design: buy Harness, Navigation Primary GNSS, opens in a new tab
77Harness, Navigation Backup GNSS1–design: buy Harness, Navigation Backup GNSS, opens in a new tab
78Harness, PPP2ETH A1–design: buy Harness, PPP2ETH A, opens in a new tab
79Harness, PPP2ETH B1–design: buy Harness, PPP2ETH B, opens in a new tab
80Harness, PPP2ETH C1–design: buy Harness, PPP2ETH C, opens in a new tab
81Harness, Remote ID1–design: buy Harness, Remote ID, opens in a new tab
82Harness, SIYI Camera1–design: buy Harness, SIYI Camera, opens in a new tab
83Harness, Antenna1–design: buy Harness, Antenna, opens in a new tab
84XT30 Male Connector, Amass XT30U-M1$0.83≈ €1TME XT30U-M: buy XT30 Male Connector, Amass XT30U-M, opens in a new tab
85XT60 Male Connector, Amass XT60U-M4$0.70≈ €1TME XT60U-M: buy XT60 Male Connector, Amass XT60U-M, opens in a new tab
86Pluggable Terminal Block, Phoenix PTSM 0,5/2-P-2,5 WH1–Mouser 1704853: buy Pluggable Terminal Block, Phoenix PTSM 0,5/2-P-2,5 WH, opens in a new tab
87Pluggable Terminal Block, Phoenix PTSM 0,5/4-P-2,5 WH18–Mouser 1704857: buy Pluggable Terminal Block, Phoenix PTSM 0,5/4-P-2,5 WH, opens in a new tab
88Pluggable Terminal Block, Phoenix PTSM 0,5/5-P-2,5 WH5–Mouser 1704858: buy Pluggable Terminal Block, Phoenix PTSM 0,5/5-P-2,5 WH, opens in a new tab
89Pluggable Terminal Block, Phoenix PTSM 0,5/6-P-2,5 WH5–Mouser 1704859: buy Pluggable Terminal Block, Phoenix PTSM 0,5/6-P-2,5 WH, opens in a new tab
90Hook-Up Wire Kit, 26 AWG PTFE, 10 colors1–Remington Industries: buy Hook-Up Wire Kit, 26 AWG PTFE, 10 colors, opens in a new tab
91Molex 12-Pin Connector, 207760-12816$1.51≈ €1Mouser 207760-1281: buy Molex 12-Pin Connector, 207760-1281, opens in a new tab
92Molex MLP Receptacle Housing, 204523-1201, 12 circuits6$0.42≈ €0Mouser 204523-1201: buy Molex MLP Receptacle Housing, 204523-1201, 12 circuits, opens in a new tab
93Spring-Loaded Connector, Mill-Max 813-22-010-30-0001016$8.60≈ €8Mouser 813-22-010-30-000101: buy Spring-Loaded Connector, Mill-Max 813-22-010-30-000101, opens in a new tab
94SLC Target Connector, Mill-Max 419-10-210-30-0540006$3.63≈ €3Mouser 419-10-210-30-054000: buy SLC Target Connector, Mill-Max 419-10-210-30-054000, opens in a new tab
95Attachment Interface Cable, Molex 79758-114950$1.29≈ €1Mouser 79758-1149: buy Attachment Interface Cable, Molex 79758-1149, opens in a new tab
96JST GH Pre-Made Cable Assortment1–Amazon: buy JST GH Pre-Made Cable Assortment, opens in a new tab
Fasteners
97Rivet, 4 mm, for 1-2.5 mm grip26–McMaster-Carr 97525A224: buy Rivet, 4 mm, for 1-2.5 mm grip, opens in a new tab
98Rivet, 4 mm, for 2.5-4.5 mm grip10–McMaster-Carr 97525A251: buy Rivet, 4 mm, for 2.5-4.5 mm grip, opens in a new tab
99Rivet, 4 mm, for 4.5-6.4 mm grip10–McMaster-Carr 97525A226: buy Rivet, 4 mm, for 4.5-6.4 mm grip, opens in a new tab
100Socket Head Screw M3x108–McMaster-Carr 91292A113: buy Socket Head Screw M3x10, opens in a new tab
101Flanged Button Head Screw M4x1016–McMaster-Carr 92095A190: buy Flanged Button Head Screw M4x10, opens in a new tab
102Button Head Hex-Drive Screw M2x412–McMaster-Carr 92095A451: buy Button Head Hex-Drive Screw M2x4, opens in a new tab
103Socket Head Screw M3x128–McMaster-Carr 91292A114: buy Socket Head Screw M3x12, opens in a new tab
104Socket Head Screw M3x879–McMaster-Carr 91292A112: buy Socket Head Screw M3x8, opens in a new tab
105Socket Head Screw M3x4016–McMaster-Carr 91292A024: buy Socket Head Screw M3x40, opens in a new tab
106Socket Head Screw M2.5x64–McMaster-Carr 91292A010: buy Socket Head Screw M2.5x6, opens in a new tab
107Hex Drive Flat Head Screw M3x108–McMaster-Carr 92125A130: buy Hex Drive Flat Head Screw M3x10, opens in a new tab
108Socket Head Screw M4x88–McMaster-Carr 91292A108: buy Socket Head Screw M4x8, opens in a new tab
109Socket Head Screw M2x64–McMaster-Carr 91292A832: buy Socket Head Screw M2x6, opens in a new tab
110Flanged Button Head Hex-Drive Screw M3x623–McMaster-Carr 97654A674: buy Flanged Button Head Hex-Drive Screw M3x6, opens in a new tab
111Socket Head Hex-Drive Screw M2x54–McMaster-Carr 92855A837: buy Socket Head Hex-Drive Screw M2x5, opens in a new tab
112Socket Head Hex-Drive Screw M2.5x84–McMaster-Carr 91292A012: buy Socket Head Hex-Drive Screw M2.5x8, opens in a new tab
113Socket Head Hex-Drive Screw M2x104–McMaster-Carr 91292A833: buy Socket Head Hex-Drive Screw M2x10, opens in a new tab
114Socket Head Hex-Drive Screw M5x84–McMaster-Carr 91292A191: buy Socket Head Hex-Drive Screw M5x8, opens in a new tab
115Button Head Hex Drive Screw M3x404–McMaster-Carr 92095A203: buy Button Head Hex Drive Screw M3x40, opens in a new tab
116Socket Head Screw M3x68–McMaster-Carr 90751A110: buy Socket Head Screw M3x6, opens in a new tab
117Threaded Insert M3, 5.7 mm50–McMaster-Carr 94459A140: buy Threaded Insert M3, 5.7 mm, opens in a new tab
118Threaded Insert M48–McMaster-Carr 94180A351: buy Threaded Insert M4, opens in a new tab
119Threaded Insert M24–McMaster-Carr 94180A312: buy Threaded Insert M2, opens in a new tab
120Threaded Insert M3, 3.8 mm16–McMaster-Carr 94180A331: buy Threaded Insert M3, 3.8 mm, opens in a new tab
121Threaded Insert M2.54–McMaster-Carr 94459A439: buy Threaded Insert M2.5, opens in a new tab
122Washer M3, General Purpose, 3.2 mm ID, 6 mm OD115–McMaster-Carr 98689A112: buy Washer M3, General Purpose, 3.2 mm ID, 6 mm OD, opens in a new tab
123Washer M4, General Purpose, 4.3 mm ID, 9 mm OD8–McMaster-Carr 93475A230: buy Washer M4, General Purpose, 4.3 mm ID, 9 mm OD, opens in a new tab
124Washer M2, Nylon, 2.2 mm ID, 5 mm OD12–McMaster-Carr 95610A110: buy Washer M2, Nylon, 2.2 mm ID, 5 mm OD, opens in a new tab
125Washer M2.5, Nylon, 2.7 mm ID, 5.6 mm OD8–McMaster-Carr 95610A011: buy Washer M2.5, Nylon, 2.7 mm ID, 5.6 mm OD, opens in a new tab
126Washer M3, Nylon, 3.2 mm ID, 6 mm OD4–McMaster-Carr 95610A704: buy Washer M3, Nylon, 3.2 mm ID, 6 mm OD, opens in a new tab
127Washer M5, General Purpose, 5.3 mm ID, 10 mm OD4–McMaster-Carr 93475A240: buy Washer M5, General Purpose, 5.3 mm ID, 10 mm OD, opens in a new tab
128Nylon-Insert Locknut M312–McMaster-Carr 90576A811: buy Nylon-Insert Locknut M3, opens in a new tab
129Vibration Mount, M3 Rubber Anti-Vibration Spacer5–Amazon
130Grommet, Circular, 20 mm OD4–Amazon
131Grommet, Oval, 27x13 mm12–Amazon
132Silicone Foam Seal Strip, Circular, 8 mm OD1–Amazon
Consumables and ToolsTools, not in the total
133Loctite Threadlocker Purple 222––McMaster-Carr 1810A28: buy Loctite Threadlocker Purple 222, opens in a new tab
134Loctite Threadlocker Blue 242––McMaster-Carr 91458A113: buy Loctite Threadlocker Blue 242, opens in a new tab
135Loctite Threadlocker Red 262––McMaster-Carr 91458A170: buy Loctite Threadlocker Red 262, opens in a new tab
136Würth Super RTV Silicone, Black––Würth 08933311
137Double-Sided Tape, Heavy Duty––Amazon
138Bambulab PETG-CF Filament2$32≈ €29Bambulab: buy Bambulab PETG-CF Filament, opens in a new tab
139Thermal Paste, Arctic MX-4, 20 g–$12≈ €11Amazon: buy Thermal Paste, Arctic MX-4, 20 g, opens in a new tab
140Allen Key Set, Metric M2-M5–––
141Wrench Set, Metric–––
142Cordless Screwdriver or Drill Press–––
143Riveting Tool, for 4 mm rivets–––

≈ € amounts use the ECB reference rate of 22 Oct 2026, for comparison only.

82 of 106 needed parts have no price in the source, so there is no parts total. Read from docs/Manufacturing/BOM.md at the pinned commit.

Build guide

The guide appears here as you scroll.

Guide by @Arrow-air (README.md), under CERN-OHL-S-2.0.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • Custom KiCad PCBs: attachment interface, battery connector, flight controller, and main board
  • Holybro Pix32 v6 flight controller running ArduPilot
  • Raspberry Pi 5 companion computer
  • BotBlox GigaBlox Nano Ethernet switch
  • CubePilot CubeNode ETH PPP adapter
  • Hobbywing XRotor X6 Plus motors/ESCs with MFP 24x8.0 propellers
  • Tattu 14S 30000 mAh battery
  • SIYI A8 mini gimbal camera and SIYI HM30 telemetry/FPV system
  • RPLidar S2L obstacle avoidance LiDAR and Nanoradar NRA15 radar altimeter
  • Mateksys M9N-G4-3100 GNSS modules (primary and backup)
  • DroneBeacon db201 Remote ID module

Connections

  • Companion computer connects to flight controller over Ethernet for MAVLink
  • Companion computer connects to flight controller and payload ports over a CAN bus using DroneCAN
  • Flight controller web server reachable over HTTP on port 8080
  • Mission Planner reaches the flight controller over 915 MHz or 433 MHz RF telemetry radio

Cables and connectors

From the parts list.

  • Foldable Motor Arm Connector × 4
  • Battery Connector PCB, assembled × 1
  • Harness, Pushbutton × 1
  • Harness, BC PCB Signal × 1
  • Harness, BC PCB SSR × 1
  • Harness, ESC Power FR × 1
  • Harness, ESC Power FL × 1
  • Harness, ESC Power BR × 1
  • Harness, ESC Power BL × 1
  • Harness, ESC Signal FR × 1
  • Harness, ESC Signal FL × 1
  • Harness, ESC Signal BR × 1
  • Harness, ESC Signal BL × 1
  • Harness, Side Payload Right × 1
  • Harness, Side Payload Left × 1
  • Harness, Bottom Payload × 1
  • Harness, Altimeter × 1
  • Harness, 360 LiDAR × 1
  • Harness, Front Radar × 1
  • Harness, HM30 Power × 1
  • Harness, HM30 Signal A × 1
  • Harness, HM30 Signal B × 1
  • Harness, Navigation Primary GNSS × 1
  • Harness, Navigation Backup GNSS × 1
  • Harness, PPP2ETH A × 1
  • Harness, PPP2ETH B × 1
  • Harness, PPP2ETH C × 1
  • Harness, Remote ID × 1
  • Harness, SIYI Camera × 1
  • Harness, Antenna × 1
  • XT30 Male Connector, Amass XT30U-M × 1
  • XT60 Male Connector, Amass XT60U-M × 4
  • Pluggable Terminal Block, Phoenix PTSM 0,5/2-P-2,5 WH × 1
  • Pluggable Terminal Block, Phoenix PTSM 0,5/4-P-2,5 WH × 18
  • Pluggable Terminal Block, Phoenix PTSM 0,5/5-P-2,5 WH × 5
  • Pluggable Terminal Block, Phoenix PTSM 0,5/6-P-2,5 WH × 5
  • Hook-Up Wire Kit, 26 AWG PTFE, 10 colors × 1
  • Molex 12-Pin Connector, 207760-1281 × 6
  • Spring-Loaded Connector, Mill-Max 813-22-010-30-000101 × 6
  • SLC Target Connector, Mill-Max 419-10-210-30-054000 × 6
  • Attachment Interface Cable, Molex 79758-1149 × 50
  • JST GH Pre-Made Cable Assortment × 1

Schematics, boards and diagrams