Project Quiver — June 2026 Progress Report
1. Executive Summary
June was a deep new unit configuration. The Houston build moved from a bare bench to a completed propellers off ground run, with most of the airframe’s subsystems configured and verified for the first time. The whole process was captured in a new Initial Configuration Guide, a manufacturer facing document that turns the initial setup into a repeatable procedure for every future unit. The California build is paused following a pilot dropout, so the month’s flight work concentrated on the Houston airframe.
Several long standing technical items were resolved through the configuration work. The HM30 to MK32 ground control link was traced to a firmware mismatch and brought up cleanly, all three obstacle avoidance sensors were made to report together, a network IP conflict between the flight controller and the SIYI air unit was corrected, outdoor GPS and compass calibration completed, and a set of base parameter file defects patched. Open blockers carry into July: the Remote ID module dropped off the CAN bus and blocks arming, the M9N GPS does not acquire reliably, and the in flight LiDAR dropout from earlier Texas testing is unresolved. The first flight slipped to early July behind these items and travel.
On governance, the May progress report was published to the DAO forum, contributor LlamaPay streams are being restarted, and a multisig airdrop covering April and May retroactive grants plus the completed documentation bounties was queued on June 23 and executed June 26. The attachment interface supply risk escalated, with the off the shelf supplier link no longer functional and PCB inventory running low. Against the May and June funding proposal goals, the team chose depth over breadth. It took one airframe close to flight ready and documented it thoroughly, so most of the proposal’s individual goals carry into July. The full goal reconciliation is in Section 4.
2. Project Progress
Team Formation
The core team structure carried over from May. The grants & bounties model continued, with commitment grants covering coordination and meeting attendance. Thomas returned to active involvement midway through the month after travel.
| Member | Role |
|---|---|
| errrks.eth | Project Lead |
| Julius | Core Contributor |
| Zeynep | Core Contributor |
| alperenag | Core Contributor |
| Dow Fisher KBM | Core Contributor |
| 21stCenturyAlex | Core Contributor |
Progress Summary:
New unit setup and ground run. The Houston build was brought up end to end over the month. Erick completed wiring and gasket installation and charged the battery, then worked through firmware flashing, base parameter loading, accelerometer and level calibration, and RC calibration with switch assignment. Zeynep validated the SITL simulator results, signed off on first flight readiness from the piloting side, and reviewed the parameter file and configuration document ahead of the run. The aircraft completed a propellers off ground run at the end of June, and Zeynep’s log review found no major motor output or input problems beyond the Remote ID issue. The planned next steps are a propellers on ground run only if the first succeeds, then a first flight, which slipped to early July behind travel and the open Remote ID and GPS items. The California build is paused following a pilot dropout, so first flight work is on the Houston airframe.
Ground control link. The HM30 to MK32 link, a blocker carried from prior months, was resolved. The MK32 binds directly to the HM30 air unit, so the standalone HM30 ground box is not needed. The actual blocker was a firmware mismatch. The MK32 ground firmware and the HM30 air firmware must come from the same matched release set, and a mismatch silently fails binding. Flashing both from the matched MK32 firmware pack fixed it. Telemetry runs on SERIAL1 and the A8 camera video is confirmed in QGroundControl. The MK32 is the sole control of the drone, a PC running Mission Planner is the telemetry view screen shared to a view only remote flight engineer over Discord. A Tailscale subnet router on the Raspberry Pi provides remote access to the flight controller over WiFi when the PC is off site.
Sensors and firmware. Sensor integration was the technical core of the month. The 360 degree RPLidar S2 was found to run on SERIAL5 rather than the SERIAL3 in the documentation, and the intermittent spin up and shutdown was traced to the firmware build and fixed with an updated release. Both NanoRadar sensors, a downward NRA15 altimeter and a forward MR82 for avoidance, were colliding at the same CAN ID and were resolved by assigning distinct CAN IDs with matching receive filters, so all three obstacle avoidance sensors now report together. A network IP conflict was corrected. The flight controller takes its address by point to point assignment from the CubeNode and was landing on the SIYI air unit’s reserved address, fixed by moving the CubeNode so the flight controller sits clear of all reserved addresses. Outdoor GPS 3D fix and compass calibration completed, and a wedged M9N GPS was recovered with a cold start reset. A set of base parameter file defects was patched in the overlays. The in flight LiDAR dropout seen in earlier Texas testing remains open.
Remote ID (open blocker). Late in the month the Remote ID module disappeared from the CAN bus and its local configuration page became inaccessible. The Remote ID arming checks block arming and cannot be disabled selectively for ground testing, and the behavior may differ between firmware versions. The plan is to compare the previous firmware and bring in a CAN bus analyzer for cleaner troubleshooting. These two items are the active gate on the first flight.
Attachments. Work began on the first productized payload attachment. Granular dispenser wiring is underway with Spike granule testing planned. The attachment interface supply risk escalated. The off the shelf supplier link is no longer functional and the part is effectively discontinued, and PCB inventory is running low with a potential supply shortage. No replacement path work has started yet, so this is a priority into July.
Governance and direction. The May progress report was published to the DAO forum. Contributor LlamaPay streams are being restarted, and documentation bounties and the April and May retroactive grants were queued for multisig signature on June 23 and executed June 26.
3. Documentation
Initial Configuration Guide A new end to end configuration guide was written from the Houston bring up, roughly sixteen sections covering the full path from a bare flight controller to a flight ready aircraft. It documents firmware flashing, base parameters, per drone calibrations (accelerometer, compass, MagFit, RC, barometer, and the outdoor field session), Ethernet and CubeNode setup, GNSS verification, Raspberry Pi setup including Tailscale remote access, battery monitoring and failsafe, Remote ID, obstacle avoidance, ESC node configuration, the SSR and relay precharge mitigation, a final verification checklist, parameter deviations from the repo baseline, and a live configuration status burn down. This substantially delivers the first time setup documentation goal in a single reusable document, built upon existing information notes. The script that automatically engages the SSR to mitigate the precharge into 12V rail failure class is committed alongside it.
Supporting documentation and repository work:
- Ethernet and Raspberry Pi configuration documented, with Julius’s Ethernet guide validated in the field.
- LiDAR pin mapping PR correcting the RPLidar S2 to SERIAL5.
- Working firmware build uploaded to GitHub (Zeynep), with a parameter review issue opened.
Remaining open under QGB-01:
- Post shipment recalibration is documented in the configuration guide but not yet migrated into the Pilot’s Handbook.
- Platform comprehensive engineering report.
- Attachment Developer Guide under “Build on Quiver.”
4. May and June Goals — Status Reconciliation
The May and June funding proposal listed 23 goals. The bulk of the team’s effort went into a complete bring up of one airframe and the Initial Configuration Guide, neither of which was an explicit goal line, so most individual goals carry into July. Status below.
| # | Goal | Status |
|---|---|---|
| 1 | Complete first flight of Houston drone |  Props off ground run complete June 29, first flight carries to July |
| 2 | Resolve HM30 radio and GCS link |  Complete on the Houston build (firmware match fix, link confirmed) |
| 3 | Add post shipment recalibration to Pilot’s Handbook | Documented in the Initial Configuration Guide, Handbook migration carries |
| 4 | Publish first flight sequence and checklist |  Carries (California build paused) |
| 5 | Inspect failed battery PCBs, determine failure path | Complete (battery vs flight controller question closed out of scope) |
| 6 | Confirm battery PCB temperature logging on Gray’s firmware | Unconfirmed, carries |
| 7 | Resolve Gray’s 12V rail failure | Root cause and SSR mitigation done, PCB reorder and repair carry |
| 8 | Complete 4G hat RF interference retest | Complete, retested and closed, confirmed a CAN ID issue not RF |
| 9 | Correct radar and HM-30 CAD orientation, push params | Open, parameters need verification on the Houston build (repeatedly deferred) |
| 10 | Resolve attachment interface supply risk |  Open, no work started, priority into July |
| 11 | Add first time setup documentation | Mostly delivered via the Initial Configuration Guide, minor gaps remain |
| 12 | Document attachment developer guide (“Build on Quiver”) | Track opened, guide not started |
| 13 | Audit manufacturing guide build photos | Not done |
| 14 | Build formal issue and failure log | Not built (config guide status burn down partially fills the role) |
| 15 | Update manufacturing guide in any design change PR | Adopted as a standing process rule |
| 16 | Run marketing and sales page discovery ($375) | Not done |
| 17 | Improve bounty visibility through Discord | Minimal, single outreach |
| 18 | Progress QGB-02 / QGB-03 / QGB-04 / QGB-05 | QGB-05 dispenser advanced, the others did not move |
| 19 | Complete V1 actuated payload latch (QGB-05a) | Claimed and in progress |
| 20 | Complete V1 multispectral camera (QGB-FLEX) | Open, unclaimed |
| 21 | Scope V1 floodlight attachment | Not scoped |
| 22 | Complete FAA Declaration of Compliance filing | Not done |
| 23 | Begin product refinement from field feedback | Not started. Important and underserved, needs dedicated focus and an owner |
Summary: three goals complete (2, 5, 8), four substantially advanced (3, 7, 11, 18), one adopted as a standing rule (15), and the rest carried into July. The largest June output, the Initial Configuration Guide and the full Houston bring up, sits outside this list.
5. Goals for Next Month
Carries forward the open items above, with the new June blockers added. First flight is the gating objective.
Flight readiness:
- Complete the first flight of the Houston build, beginning with a propellers on ground run.
- Resolve the Remote ID module dropping off the CAN bus and the arming block, comparing firmware versions and using a CAN bus analyzer if needed.
- Resolve Hobbywing X6 Plus G2 ESC reliability on DroneCAN with the ordered Datalink converter and a CAN termination check.
- Stabilize M9N GPS satellite acquisition so a cold restart is not required each flight.
- Resolve the in flight RPLidar S2 dropout seen in earlier Texas testing.
- Confirm onboard logging writes and verify the SD card before flight.
- Enter the Remote ID identity once registration numbers are in hand.
Documentation:
- Close the remaining Initial Configuration Guide gaps and reconcile the QGB-01 first time setup line for payout.
- Migrate the post shipment recalibration step into the Pilot’s Handbook.
- Publish the first flight sequence and pre flight checklist to GitHub.
- Write the Attachment Developer Guide under “Build on Quiver.”
- Audit the manufacturing guide build photos during a real assembly and replace where unclear.
Hardware and CAD:
- Correct the radar and HM-30 CAD orientation and verify the ArduPilot parameters on the Houston build. This has been deferred repeatedly and should be closed this month.
- Resolve the attachment interface supply risk, decide the replacement path and order quantity, and address the low PCB inventory.
- Order replacement PCBs for Gray’s unit and complete the 12V rail repair.
- Confirm whether battery PCB temperature logging exists on Gray’s firmware.
Attachments and bounties:
- Complete the V1 actuated payload latch (QGB-05a), now claimed and in progress.
- Get the V1 multispectral camera payload (QGB-FLEX) claimed and started.
- Complete the granular dispenser attachment wiring and run Spike granule testing.
- Scope V1 of the floodlight attachment.
- Progress the obstacle avoidance bounty (QGB-02) from working sensors into integration, and move the endurance metrics (QGB-03) and wind limit (QGB-04) studies.
- Improve bounty visibility through regular Discord announcements.
Product, marketing, regulatory, and governance:
- Give product refinement from field feedback a dedicated owner and focus. It is an important goal that has not been getting attention, and packaging, setup, and adaptive parameters should be deliberately driven rather than left to surface on their own.
- Complete the marketing and sales page discovery deliverable ($375 from QGB-FLEX).
- Complete the FAA Declaration of Compliance filing.
- Define the flight test campaign reward tiers and participation mechanics (10,000 $ARROW carried from April).
- Execute the May and June treasury to multisig transfer and confirm the June 23 airdrop cleared.
- Get the Quiver sales page live on the website (Gavin).
Standing process rule (not a monthly goal): the manufacturing guide is updated in the same PR as any design change.
6. Budget & Resource Allocation
Team Members Compensation:
The core team continued on commitment grants in June under the grants & bounties model.
June 2026 — Total Budget: $8,760 USDC + 25,000 $ARROW
| Category | Budget |
|---|---|
| Commitment Grants | $8,760 USDC |
| Flight Test Campaign | 10,000 $ARROW |
| Retroactive Grants | 15,000 $ARROW (held, not distributed) |
Note. Commitment and retroactive grants were requested for May and June together in a single combined funding proposal to bring funding back on schedule after a late filing. The amounts shown here are the June portion. The Flight Test Campaign 10,000 $ARROW carries forward from April with no new ask.
Disbursement status. As of this report, the treasury to multisig transfer for the combined May and June request ($17,520 USDC + 30,000 $ARROW) has not been executed. The June 23 multisig airdrop executed on June 26, paying the $2,200 USDC documentation bounties (Manufacturing Guide and Engineering Report) and the 13,550 $ARROW of April and May retroactive grants. Contributor commitment grant streams are being restarted through LlamaPay and follow the treasury transfer. No June retroactive grants were distributed this period, and the 15,000 $ARROW June pool is held in reserve. The June commitment figures in this section are approved allocations, not amounts paid.
Commitment Grants — $8,760 USDC
| Contributor | Grant (USDC) |
|---|---|
| Erick | $3,000 |
| Julius | $1,280 |
| Zeynep | $1,280 |
| Alperen | $1,280 |
| KBM | $960 |
| Alex | $960 |
Grants & Bounties
Technical milestone bounties continue to be funded from the USDC reserve carried forward from March ($26,240 USDC). $6,693.50 has been paid to date, leaving $19,546.50. The $2,200 in completed documentation bounties (Manufacturing Guide and Engineering Report) was paid June 26 from the multisig airdrop. No new USDC bounty allocations were requested for May or June.
| ID | Name | Reward | Status |
|---|---|---|---|
| QGB-01 | Documentation Wrap Up | $10,000 | In Progress — Manufacturing Guide and Engineering Report paid June 26, first time setup substantially delivered via the Initial Configuration Guide, attachment developer guide remaining |
| QGB-02 | Obstacle Avoidance System | $4,000 | Open — all three sensors now report at config level, integration is the next step |
| QGB-03 | Endurance Metrics Study | $600 | Open — Ben & Boosh candidates |
| QGB-04 | Wind Limit Study | $3,000 | Open — Zeynep to analyze existing flight data and integrate wind tracking as a flight tracking app feature |
| QGB-05 | Attachment Development | $3,000 | In Progress — granular dispenser attachment wiring underway, interface supply risk escalated |
| QGB-05a | V1 Actuated Payload Latch | $500 | Claimed / In Progress — milestone based ($150 / $150 / $200) |
| QGB-06 | Transport Case | $1,000 | Paid April 20 |
| QGB-FLEX | Open Bounty Bucket | $4,640 | In Progress — $1,729.50 paid, $500 assigned (Camera) + $375 assigned (Marketing Discovery), $2,035.50 remaining |
| QGB-FLEX | Multispectral Camera Payload | $500 | Open — MAPIR Survey3N RGN mount, milestone based ($150 / $150 / $200), unclaimed and flagged overdue |
| QGB-FLEX | Marketing & Sales Page Discovery | $375 | Open — Erick writing the scoping doc himself (~5 hrs), not started |
| QGB-FLEX | QuiverHub V1 Completion & Release | $1,080 USDC + 600 $ARROW | Paid — Alex, all M1–M3 milestones closed in April |
QGB-01 Breakdown
| Item | Allocation | Status |
|---|---|---|
| Dev-Kit Information Notes | $775 USDC | Paid |
| Liquidity Pool Seeding | $989 USDC | Paid |
| Manufacturing Guide — Alperen | $1,000 USDC | Paid June 26th |
| Manufacturing Guide — Erick | $700 USDC | Paid June 26th |
| Manufacturing Guide — First time Setup (rolled forward) | $300 USDC | Mostly delivered via the Initial Configuration Guide, payout pending minor gaps |
| Engineering Report — Erick | $500 USDC | Paid June 26th |
| Platform Engineering Report (reserved) | $500 USDC | Open |
| Pilot’s Handbook | $1,000 USDC | Merged — payment pending field driven updates |
| Developer SDK | Unpriced | Quick start merged — pending field updates and M4 & M5 (Alex) |
| Maintenance Guide | Unpriced | Merged — payment pending field driven updates |
| Attachment Developer Guide | $750 USDC | Open — NEW under “Build on Quiver” |
| Unassigned Funds | $3,486 USDC | After priced items |
Retroactive Grants — 15,000 $ARROW
No retroactive grants were distributed for June. The full 15,000 $ARROW June pool is held in reserve.
| Contributor | Amount |
|---|---|
| Total Reserve | 15,000 $ARROW |
| Distributed | 0 $ARROW |
| Held in reserve | 15,000 $ARROW |
Flight Test Campaign — 10,000 $ARROW
Carries forward from April. To be distributed based on logs uploaded to the flight tracking platform. Reward tiers and participation mechanics to be defined through team meetings.
Total:
The June portion of the combined funding request is $8,760 USDC in commitment grants plus 15,000 $ARROW in retroactive grants, with the 10,000 $ARROW flight test campaign carried from April. As of this report, the combined May and June treasury to multisig transfer has not executed. The June 23 multisig airdrop executed June 26, paying the $2,200 USDC documentation bounties and the 13,550 $ARROW of April and May retroactive grants. June commitment grants follow the treasury transfer and the restarted LlamaPay streams. Technical bounties continue to draw from the March USDC reserve, now $19,546.50 remaining after the documentation payouts. No June retroactive grants were distributed, and the 15,000 $ARROW June pool is held in reserve.