combine compass and velocity into topic DroneStatus

class_model/include/class_model/PubData.h

@@ -0,0 +1,39 @@
+/*Publish Compass & velocity data to topic "DroneStatus"*/
+#ifndef PUBDATA_H
+#define PUBDATA_H
+
+#include <ros/ros.h>
+#include <sensor_msgs/NavSatFix.h>
+#include <std_msgs/Float64.h>
+#include <mavros_msgs/Waypoint.h>
+#include "class_model/velocity.h"
+
+class PubDataClass {
+public:
+    PubDataClass();
+    virtual ~PubDataClass();
+    void publishData(velocity v);
+
+
+
+private:
+    // ROS NodeHandle
+    ros::NodeHandle node_handle_;
+
+    //SUBSCRIBE
+    ros::Subscriber Compass;
+
+    //PUBLISH
+    ros::Publisher PubData;
+
+    mavros_msgs::Waypoint msg;
+    float heading;
+    void Compass_callback(const std_msgs::Float64::ConstPtr &degree);    
+
+
+
+    
+
+};
+
+#endif // PUBDATA_H

class_model/include/class_model/formation.h

@@ -10,6 +10,7 @@
 #include "class_model/command.h"
 #include "class_model/requestData.h"
 #include "class_model/PID.h"
+#include "class_model/PubData.h"
 #include <std_msgs/String.h>
 
 
@@ -25,6 +26,7 @@ public:
     ControlClass control_object;
     CommandClass command_object;
     RequestClass request_object;
+    PubDataClass PubData_object;
     PIDClass PID_x;
     PIDClass PID_y;
     
@@ -48,6 +50,7 @@ private:
     global_location follower_location;
     global_location leader_location;
     global_location current_location;
+    velocity drone_speed;
     int flag = 0,heading_status = 0;
     float pre_alt,cur_alt;
     float leader_pid[3] = {0.5 , 0.000000000001 ,0.5};

class_model/include/class_model/velocity.h

@@ -0,0 +1,8 @@
+#ifndef VELOCITY_H
+#define VELOCITY_H
+
+typedef struct velocity{
+	float x,y;
+}velocity;
+
+#endif // VELOCITY_H