I was just watching "The Gyroscopic Collapse", S10 E23, where the Air Force takes all the work Howard, Leonard, and Sheldon had been doing on the guidance system project they were doing for them.

Originally, Howard had the idea because he wanted to market the idea to get some extra money to support his family because Bernadette was pregnant. Then the Air Force became interested and they agreed to work for them.

Was there ever any mention of monetary compensation that any of them got out of it? Especially since the Air Force just took everything to work on it themselves after a certain point. Surely the military must have paid them something somewhere along the line.