diff --git a/class_model/include/class_model/follower.h b/class_model/include/class_model/follower.h
index fcb77a7..3cf4bb3 100755
--- a/class_model/include/class_model/follower.h
+++ b/class_model/include/class_model/follower.h
@@ -37,7 +37,7 @@ public:
     DroneStatus samePlane[5];
     
     void follower(global_location* member_data, size_t index, int refID);
-    int find_ref_drone(global_location data[], size_t index, int leaderID);
+    int find_ref_drone(global_location* data[], size_t index, int leaderID);
 
     float lon[3],lat[3];
     
@@ -62,8 +62,8 @@ private:
     float ignore_small = 0.50;
 
     void calculate_position(float k,float theta,int plane);
-    void plane(global_location target, global_location leader, global_location follower);
-    int direct(global_location target, global_location leader, DroneStatus self, DroneStatus member);
+    void plane(global_location* target, global_location* leader, global_location* follower);
+    int direct(global_location* target, global_location* leader, DroneStatus self, DroneStatus member);
     void choose_leader();
 
 
diff --git a/class_model/src/bio_main.cpp b/class_model/src/bio_main.cpp
index 3f618c4..6b92554 100644
--- a/class_model/src/bio_main.cpp
+++ b/class_model/src/bio_main.cpp
@@ -48,23 +48,23 @@ int main(int argc, char **argv) {
 
     checkLeader = check_leader(*pos,index).is_leader;
     if(checkLeader != 1){
-        ref_ID = follower_object.find_ref_drone(*pos,index,check_leader(*pos,index).leader_ID); //find_ref_drone(pos,index,leader_ID); 
+        ref_ID = follower_object.find_ref_drone(pos,index,check_leader(*pos,index).leader_ID); //find_ref_drone(pos,index,leader_ID); 
     }
 
     while(true){
 
-        // self = request_object.get_self_GPS();
-        // M1 = request_object.get_M1_GPS();
-        // M2 = request_object.get_M2_GPS();
-        // M3 = request_object.get_M3_GPS();
-        // M4 = request_object.get_M4_GPS();
+        self = request_object.get_self_GPS();
+        M1 = request_object.get_M1_GPS();
+        M2 = request_object.get_M2_GPS();
+        M3 = request_object.get_M3_GPS();
+        M4 = request_object.get_M4_GPS();
         // pos[] = {target,self,M1,M2,M3,M4};
         // member[] = {M1,M2,M3,M4};
         
         if(checkLeader == 1){
             // leader_object.leader(target);
         }else{
-            ref_ID = follower_object.find_ref_drone(*pos,index,check_leader(*pos,index).leader_ID);
+            ref_ID = follower_object.find_ref_drone(pos,index,check_leader(*pos,index).leader_ID);
             follower_object.follower(*member,m_index,ref_ID);   //follow reference drone position
         }
     }
diff --git a/class_model/src/bio_main2.cpp b/class_model/src/bio_main2.cpp
index 17dedc9..4d3c36a 100644
--- a/class_model/src/bio_main2.cpp
+++ b/class_model/src/bio_main2.cpp
@@ -48,7 +48,7 @@ int main(int argc, char **argv) {
 
     checkLeader = check_leader(*pos,index).is_leader;
     if(checkLeader != 1){
-        ref_ID = follower_object.find_ref_drone(*pos,index,check_leader(*pos,index).leader_ID); //find_ref_drone(pos,index,leader_ID); 
+        ref_ID = follower_object.find_ref_drone(pos,index,check_leader(*pos,index).leader_ID); //find_ref_drone(pos,index,leader_ID); 
     }
 
     while(true){
@@ -64,7 +64,7 @@ int main(int argc, char **argv) {
         if(checkLeader == 1){
             // leader_object.leader(target);
         }else{
-            ref_ID = follower_object.find_ref_drone(*pos,index,check_leader(*pos,index).leader_ID);
+            ref_ID = follower_object.find_ref_drone(pos,index,check_leader(*pos,index).leader_ID);
             follower_object.follower(*member,m_index,ref_ID);   //follow reference drone position
         }
     }
diff --git a/class_model/src/bio_main3.cpp b/class_model/src/bio_main3.cpp
index 99d099c..ffa56d5 100644
--- a/class_model/src/bio_main3.cpp
+++ b/class_model/src/bio_main3.cpp
@@ -48,7 +48,7 @@ int main(int argc, char **argv) {
 
     checkLeader = check_leader(*pos,index).is_leader;
     if(checkLeader != 1){
-        ref_ID = follower_object.find_ref_drone(*pos,index,check_leader(*pos,index).leader_ID); //find_ref_drone(pos,index,leader_ID); 
+        ref_ID = follower_object.find_ref_drone(pos,index,check_leader(*pos,index).leader_ID); //find_ref_drone(pos,index,leader_ID); 
     }
 
     while(true){
@@ -64,7 +64,7 @@ int main(int argc, char **argv) {
         if(checkLeader == 1){
             // leader_object.leader(target);
         }else{
-            ref_ID = follower_object.find_ref_drone(*pos,index,check_leader(*pos,index).leader_ID);
+            ref_ID = follower_object.find_ref_drone(pos,index,check_leader(*pos,index).leader_ID);
             follower_object.follower(*member,m_index,ref_ID);   //follow reference drone position
         }
     }
diff --git a/class_model/src/bio_main4.cpp b/class_model/src/bio_main4.cpp
index 3789550..0b514e1 100644
--- a/class_model/src/bio_main4.cpp
+++ b/class_model/src/bio_main4.cpp
@@ -48,7 +48,7 @@ int main(int argc, char **argv) {
 
     checkLeader = check_leader(*pos,index).is_leader;
     if(checkLeader != 1){
-        ref_ID = follower_object.find_ref_drone(*pos,index,check_leader(*pos,index).leader_ID); //find_ref_drone(pos,index,leader_ID); 
+        ref_ID = follower_object.find_ref_drone(pos,index,check_leader(*pos,index).leader_ID); //find_ref_drone(pos,index,leader_ID); 
     }
 
     while(true){
@@ -64,7 +64,7 @@ int main(int argc, char **argv) {
         if(checkLeader == 1){
             // leader_object.leader(target);
         }else{
-            ref_ID = follower_object.find_ref_drone(*pos,index,check_leader(*pos,index).leader_ID);
+            ref_ID = follower_object.find_ref_drone(pos,index,check_leader(*pos,index).leader_ID);
             follower_object.follower(*member,m_index,ref_ID);   //follow reference drone position
         }
     }
diff --git a/class_model/src/bio_main5.cpp b/class_model/src/bio_main5.cpp
index e8da062..4064955 100644
--- a/class_model/src/bio_main5.cpp
+++ b/class_model/src/bio_main5.cpp
@@ -48,7 +48,7 @@ int main(int argc, char **argv) {
 
     checkLeader = check_leader(*pos,index).is_leader;
     if(checkLeader != 1){
-        ref_ID = follower_object.find_ref_drone(*pos,index,check_leader(*pos,index).leader_ID); //find_ref_drone(pos,index,leader_ID); 
+        ref_ID = follower_object.find_ref_drone(pos,index,check_leader(*pos,index).leader_ID); //find_ref_drone(pos,index,leader_ID); 
     }
 
     while(true){
@@ -64,7 +64,7 @@ int main(int argc, char **argv) {
         if(checkLeader == 1){
             // leader_object.leader(target);
         }else{
-            ref_ID = follower_object.find_ref_drone(*pos,index,check_leader(*pos,index).leader_ID);
+            ref_ID = follower_object.find_ref_drone(pos,index,check_leader(*pos,index).leader_ID);
             follower_object.follower(*member,m_index,ref_ID);   //follow reference drone position
         }
     }
diff --git a/class_model/src/follower.cpp b/class_model/src/follower.cpp
index 378f804..463d96a 100755
--- a/class_model/src/follower.cpp
+++ b/class_model/src/follower.cpp
@@ -43,80 +43,80 @@ void FollowerClass::follower(global_location* member_data, size_t index, int ref
     //}
 }
 
-void FollowerClass::plane(global_location target, global_location leader, global_location follower){
+void FollowerClass::plane(global_location* target, global_location* leader, global_location* follower){
     
     //caculate drone is locate on R/L plane
     float slope,c,y;
-    slope = (target.lat-leader.lat)/(target.lon-leader.lon);
-    c = leader.lat - slope*leader.lon;
-    y = slope * follower.lon + c;
+    slope = (target->lat-leader->lat)/(target->lon-leader->lon);
+    c = leader->lat - slope*leader->lon;
+    y = slope * follower->lon + c;
     // std::cout<< follower.ID << ","<< follower.lat <<","<< y <<std::endl;
 
-    if(follower.lat <= y){ 
+    if(follower->lat <= y){ 
         // std::cout<< follower.lat <<","<< y <<std::endl;              
-        switch (follower.ID){
+        switch (follower->ID){
             case 1:
-                drone1.init_location.lat = follower.lat;
-                drone1.init_location.lon = follower.lon;
-                drone1.ID = follower.ID; 
+                drone1.init_location.lat = follower->lat;
+                drone1.init_location.lon = follower->lon;
+                drone1.ID = follower->ID; 
                 drone1.plane = 1;        //right plane
                 break;
             case 2:
-                drone2.init_location.lat = follower.lat;
-                drone2.init_location.lon = follower.lon;
-                drone2.ID = follower.ID; 
+                drone2.init_location.lat = follower->lat;
+                drone2.init_location.lon = follower->lon;
+                drone2.ID = follower->ID; 
                 drone2.plane = 1;        
                 break;            
             case 3:
-                drone3.init_location.lat = follower.lat;
-                drone3.init_location.lon = follower.lon;
-                drone3.ID = follower.ID; 
+                drone3.init_location.lat = follower->lat;
+                drone3.init_location.lon = follower->lon;
+                drone3.ID = follower->ID; 
                 drone3.plane = 1;        
                 break;
             case 4:
-                drone4.init_location.lat = follower.lat;
-                drone4.init_location.lon = follower.lon;
-                drone4.ID = follower.ID; 
+                drone4.init_location.lat = follower->lat;
+                drone4.init_location.lon = follower->lon;
+                drone4.ID = follower->ID; 
                 drone4.plane = 1;        
                 break; 
             case 5:
-                drone5.init_location.lat = follower.lat;
-                drone5.init_location.lon = follower.lon;
-                drone5.ID = follower.ID; 
+                drone5.init_location.lat = follower->lat;
+                drone5.init_location.lon = follower->lon;
+                drone5.ID = follower->ID; 
                 drone5.plane = 1;        
                 break;  
         }
-    }else if(follower.lat > y){
+    }else if(follower->lat > y){
         // std::cout<< follower.lat <<","<< y <<std::endl;   
-        switch (follower.ID){
+        switch (follower->ID){
             case 1:
-                drone1.init_location.lat = follower.lat;
-                drone1.init_location.lon = follower.lon;
-                drone1.ID = follower.ID; 
+                drone1.init_location.lat = follower->lat;
+                drone1.init_location.lon = follower->lon;
+                drone1.ID = follower->ID; 
                 drone1.plane = -1;        //left plane
                 break;
             case 2:
-                drone2.init_location.lat = follower.lat;
-                drone2.init_location.lon = follower.lon;
-                drone2.ID = follower.ID; 
+                drone2.init_location.lat = follower->lat;
+                drone2.init_location.lon = follower->lon;
+                drone2.ID = follower->ID; 
                 drone2.plane = -1;        
                 break;            
             case 3:
-                drone3.init_location.lat = follower.lat;
-                drone3.init_location.lon = follower.lon;
-                drone3.ID = follower.ID; 
+                drone3.init_location.lat = follower->lat;
+                drone3.init_location.lon = follower->lon;
+                drone3.ID = follower->ID; 
                 drone3.plane = -1;       
                 break; 
             case 4:
-                drone4.init_location.lat = follower.lat;
-                drone4.init_location.lon = follower.lon;
-                drone4.ID = follower.ID; 
+                drone4.init_location.lat = follower->lat;
+                drone4.init_location.lon = follower->lon;
+                drone4.ID = follower->ID; 
                 drone4.plane = -1;        
                 break; 
             case 5:
-                drone5.init_location.lat = follower.lat;
-                drone5.init_location.lon = follower.lon;
-                drone5.ID = follower.ID; 
+                drone5.init_location.lat = follower->lat;
+                drone5.init_location.lon = follower->lon;
+                drone5.ID = follower->ID; 
                 drone5.plane = -1;        
                 break;
     }
@@ -125,12 +125,12 @@ void FollowerClass::plane(global_location target, global_location leader, global
     
 }
 
-int FollowerClass::direct(global_location target, global_location leader, DroneStatus self, DroneStatus member){
+int FollowerClass::direct(global_location* target, global_location* leader, DroneStatus self, DroneStatus member){
 
     global_location vector_LT,vector_SM;
     float m,n,k,cosTheta;
-    vector_LT.lon = target.lon - leader.lon;       //vector_LT (leader->target)     
-    vector_LT.lat = target.lat - leader.lat;
+    vector_LT.lon = target->lon - leader->lon;       //vector_LT (leader->target)     
+    vector_LT.lat = target->lat - leader->lat;
     vector_SM.lon = member.init_location.lon - self.init_location.lon;       //vector_SM (self->member)
     vector_SM.lat = member.init_location.lat - self.init_location.lat;
     k = (vector_LT.lon*vector_SM.lon)+(vector_LT.lat*vector_SM.lat);     //k = vector_LT dot vector_SM
@@ -146,40 +146,40 @@ int FollowerClass::direct(global_location target, global_location leader, DroneS
 
 }
 
-int FollowerClass::find_ref_drone(global_location data[], size_t index, int leaderID){
+int FollowerClass::find_ref_drone(global_location* data[], size_t index, int leaderID){
 
     for(int i=1 ; i<index ; i++){                //check leader drone
-        if(leaderID == data[i].ID){
-            leader_drone = data[i];
+        if(leaderID == data[i]->ID){
+            leader_drone = *data[i];
             switch(leaderID){
                 case 1:
-                    drone1.init_location.lat = data[i].lat;        
-                    drone1.init_location.lon = data[i].lon;
-                    drone1.ID = data[i].ID;
+                    drone1.init_location.lat = data[i]->lat;        
+                    drone1.init_location.lon = data[i]->lon;
+                    drone1.ID = data[i]->ID;
                     drone1.plane = 0;               //center
                     break;
                 case 2:
-                    drone2.init_location.lat = data[i].lat;
-                    drone2.init_location.lon = data[i].lon;
-                    drone2.ID = data[i].ID;
+                    drone2.init_location.lat = data[i]->lat;
+                    drone2.init_location.lon = data[i]->lon;
+                    drone2.ID = data[i]->ID;
                     drone2.plane = 0;
                     break;
                 case 3:
-                    drone3.init_location.lat = data[i].lat;
-                    drone3.init_location.lon = data[i].lon;
-                    drone3.ID = data[i].ID;
+                    drone3.init_location.lat = data[i]->lat;
+                    drone3.init_location.lon = data[i]->lon;
+                    drone3.ID = data[i]->ID;
                     drone3.plane = 0;
                     break;
                 case 4:
-                    drone4.init_location.lat = data[i].lat;
-                    drone4.init_location.lon = data[i].lon;
-                    drone4.ID = data[i].ID;
+                    drone4.init_location.lat = data[i]->lat;
+                    drone4.init_location.lon = data[i]->lon;
+                    drone4.ID = data[i]->ID;
                     drone4.plane = 0;
                     break;
                 case 5:
-                    drone5.init_location.lat = data[i].lat;
-                    drone5.init_location.lon = data[i].lon;
-                    drone5.ID = data[i].ID;
+                    drone5.init_location.lat = data[i]->lat;
+                    drone5.init_location.lon = data[i]->lon;
+                    drone5.ID = data[i]->ID;
                     drone5.plane = 0;
                     break;
 
@@ -189,41 +189,41 @@ int FollowerClass::find_ref_drone(global_location data[], size_t index, int lead
     }
 
     for(int i=1 ; i<index ; i++){
-        if(data[i].ID != leader_drone.ID){          //caculate the plane of each drone
-            plane(data[0],leader_drone,data[i]);
+        if(data[i]->ID != leader_drone.ID){          //caculate the plane of each drone
+            plane(data[0],&leader_drone,data[i]);
         }
     }
 
     int j=0,s_index=0;
-    if(drone1.ID == data[1].ID){                   //seperate self and other
+    if(drone1.ID == data[1]->ID){                   //seperate self and other
         self = drone1;                              //problem
     }else{
         memberDrone[j] = drone1;
         j+=1;
         // std::cout << "drone1" <<std::endl;
     }
-    if(drone2.ID == data[1].ID){
+    if(drone2.ID == data[1]->ID){
         self = drone2;
     }else{
         memberDrone[j] = drone2;
         j+=1;
         // std::cout << "drone2" <<std::endl;
     }
-    if(drone3.ID == data[1].ID){
+    if(drone3.ID == data[1]->ID){
         self = drone3;
     }else{
         memberDrone[j] = drone3;
         j+=1;
         // std::cout << "drone3" <<std::endl;
     }
-    if(drone4.ID == data[1].ID){
+    if(drone4.ID == data[1]->ID){
         self = drone4;
     }else{
         memberDrone[j] = drone4;
         j+=1;
         // std::cout << "drone4" <<std::endl;
     }
-    if(drone5.ID == data[1].ID){
+    if(drone5.ID == data[1]->ID){
         self = drone5;
     }else{
         memberDrone[j] = drone5;
@@ -249,7 +249,7 @@ int FollowerClass::find_ref_drone(global_location data[], size_t index, int lead
     // std::cout <<"s_index " <<s_index <<std::endl;
     for(int i=0 ; i<s_index ; i++){                 //caculate each same plane mamber's distance
 
-        dir = direct(data[0],leader_drone,self,samePlane[i]);
+        dir = direct(data[0],&leader_drone,self,samePlane[i]);
         d[i] = dir * sqrt( pow((self.init_location.lat - samePlane[i].init_location.lat ),2) + pow((self.init_location.lon - samePlane[i].init_location.lon),2) );
 
         // std::cout << i<<"," <<d[i] <<std::endl;
diff --git a/class_model/src/mqttPubMain5.py b/class_model/src/mqttPubMain5.py
index ba420b2..83580b0 100755
--- a/class_model/src/mqttPubMain5.py
+++ b/class_model/src/mqttPubMain5.py
@@ -61,7 +61,6 @@ if __name__ == '__main__':
     FilePath = os.path.join(os.path.dirname(__file__),"utils","mqttConfig_PUB5.yml")
     cfg = utils.Read_PUB_Config(FilePath)
     client = utils.MQTTClient(cfg.MQTTClientNamePub)
-
     # set log
     log_format = "%(asctime)s - %(levelname)s - %(message)s"
     formatter = logging.Formatter(log_format)
@@ -78,8 +77,9 @@ if __name__ == '__main__':
     logger.setLevel(logging.INFO)
     logger.addHandler(file_handler)
     logger.addHandler(stream_handler)
-    logger.info(cfg)
-    
+    # logger.info(cfg)
+    print(cfg.keepalive)
+
     # Mqtt
     client.on_connect = on_connect
     client.on_publish = on_publish
diff --git a/class_model/src/test_lib.cpp b/class_model/src/test_lib.cpp
index 3d8c35b..2550c8c 100644
--- a/class_model/src/test_lib.cpp
+++ b/class_model/src/test_lib.cpp
@@ -259,9 +259,6 @@ int main(int argc,char** argv){
 
     global_location data[]={target,self,M1,M2};
     size_t index = sizeof(data)/sizeof(data[0]);
-    int x = 0;
-    int y = 0;
-    int* arr[] = {&x,&y};
 
 
     find_ref_drone(data,index,check_leader(data,index).leader_ID);
diff --git a/class_model/src/uavlinkPubMain.py b/class_model/src/uavlinkPubMain.py
index ad9721c..da05d5c 100755
--- a/class_model/src/uavlinkPubMain.py
+++ b/class_model/src/uavlinkPubMain.py
@@ -24,7 +24,7 @@ from geometry_msgs.msg import Vector3
 def init_dataFormat(cfg:Read_PUB_Config):
     ros_namespace="/drone1"
     f1data = b'\xf1drone550..............\r\n'  
-    sel = serial.Serial(cfg.port, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE)
+    sel = serial.Serial(cfg.ttyport, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE)
     sel.write(f1data)
     Proto_msg_from_ros.sel = sel
     Proto_msg_from_ros.flight_information_msg = flight_information_pb2.flight_information_message()
diff --git a/class_model/src/utils/mqttConfig_CMD.yml b/class_model/src/utils/mqttConfig_CMD.yml
index 7efd04c..a8acefc 100644
--- a/class_model/src/utils/mqttConfig_CMD.yml
+++ b/class_model/src/utils/mqttConfig_CMD.yml
@@ -13,3 +13,4 @@ ROS:
   ROStopicName_Cmd_Broadcast_Receiver: cmd_receiver
 LOG:
   logFileName: cmd.log
+UAVLINK: "None"
\ No newline at end of file
diff --git a/class_model/src/utils/mqttConfig_PUB.yml b/class_model/src/utils/mqttConfig_PUB.yml
index cb784b4..5a084f3 100644
--- a/class_model/src/utils/mqttConfig_PUB.yml
+++ b/class_model/src/utils/mqttConfig_PUB.yml
@@ -20,3 +20,4 @@ ROS:
   ROStopicName_Fly_Formation: Fly_Formation_reciver
 LOG:
   logFileName: pub.log
+UAVLINK: "None"
\ No newline at end of file
diff --git a/class_model/src/utils/mqttConfig_PUB2.yml b/class_model/src/utils/mqttConfig_PUB2.yml
index 8019fdc..c2f0549 100644
--- a/class_model/src/utils/mqttConfig_PUB2.yml
+++ b/class_model/src/utils/mqttConfig_PUB2.yml
@@ -20,3 +20,4 @@ ROS:
   ROStopicName_Fly_Formation: Fly_Formation_reciver
 LOG:
   logFileName: pub.log
+UAVLINK: "None"
\ No newline at end of file
diff --git a/class_model/src/utils/mqttConfig_PUB3.yml b/class_model/src/utils/mqttConfig_PUB3.yml
index e2e3069..2bb27fe 100644
--- a/class_model/src/utils/mqttConfig_PUB3.yml
+++ b/class_model/src/utils/mqttConfig_PUB3.yml
@@ -20,3 +20,4 @@ ROS:
   ROStopicName_Fly_Formation: Fly_Formation_reciver
 LOG:
   logFileName: pub.log
+UAVLINK: "None"
\ No newline at end of file
diff --git a/class_model/src/utils/mqttConfig_PUB4.yml b/class_model/src/utils/mqttConfig_PUB4.yml
index 6f2152c..7fe4f50 100644
--- a/class_model/src/utils/mqttConfig_PUB4.yml
+++ b/class_model/src/utils/mqttConfig_PUB4.yml
@@ -20,3 +20,4 @@ ROS:
   ROStopicName_Fly_Formation: Fly_Formation_reciver
 LOG:
   logFileName: pub.log
+UAVLINK: "None"
\ No newline at end of file
diff --git a/class_model/src/utils/mqttConfig_PUB5.yml b/class_model/src/utils/mqttConfig_PUB5.yml
index 5735165..a2467a3 100644
--- a/class_model/src/utils/mqttConfig_PUB5.yml
+++ b/class_model/src/utils/mqttConfig_PUB5.yml
@@ -20,3 +20,4 @@ ROS:
   ROStopicName_Fly_Formation: Fly_Formation_reciver
 LOG:
   logFileName: pub.log
+UAVLINK: "None"
\ No newline at end of file
diff --git a/class_model/src/utils/mqttConfig_SUB.yml b/class_model/src/utils/mqttConfig_SUB.yml
index 2d4ef73..e2e6cf4 100644
--- a/class_model/src/utils/mqttConfig_SUB.yml
+++ b/class_model/src/utils/mqttConfig_SUB.yml
@@ -35,3 +35,4 @@ ROS:
   Dron555_ROStopicName_Flight_Information: Dron555_Flight_Information_reciver
 LOG:
   logFileName: sub.log
+UAVLINK: "None"
\ No newline at end of file
diff --git a/class_model/src/utils/mqttConfig_SUB2.yml b/class_model/src/utils/mqttConfig_SUB2.yml
index cbc5c8c..34dc3eb 100644
--- a/class_model/src/utils/mqttConfig_SUB2.yml
+++ b/class_model/src/utils/mqttConfig_SUB2.yml
@@ -35,3 +35,4 @@ ROS:
   Dron555_ROStopicName_Flight_Information: Dron555_Flight_Information_reciver
 LOG:
   logFileName: sub.log
+UAVLINK: "None"
\ No newline at end of file
diff --git a/class_model/src/utils/mqttConfig_SUB3.yml b/class_model/src/utils/mqttConfig_SUB3.yml
index 0e08679..c400b67 100644
--- a/class_model/src/utils/mqttConfig_SUB3.yml
+++ b/class_model/src/utils/mqttConfig_SUB3.yml
@@ -34,3 +34,4 @@ ROS:
   Dron555_ROStopicName_Flight_Information: Dron555_Flight_Information_reciver
 LOG:
   logFileName: sub.log
+UAVLINK: "None"
\ No newline at end of file
diff --git a/class_model/src/utils/mqttConfig_SUB4.yml b/class_model/src/utils/mqttConfig_SUB4.yml
index dd2e9eb..991f787 100644
--- a/class_model/src/utils/mqttConfig_SUB4.yml
+++ b/class_model/src/utils/mqttConfig_SUB4.yml
@@ -36,3 +36,4 @@ ROS:
   Dron555_ROStopicName_Flight_Information: Dron555_Flight_Information_reciver
 LOG:
   logFileName: sub.log
+UAVLINK: "None"
\ No newline at end of file
diff --git a/class_model/src/utils/mqttConfig_SUB5.yml b/class_model/src/utils/mqttConfig_SUB5.yml
index 40c10ce..8b7f3b6 100644
--- a/class_model/src/utils/mqttConfig_SUB5.yml
+++ b/class_model/src/utils/mqttConfig_SUB5.yml
@@ -36,3 +36,4 @@ ROS:
   Dron555_ROStopicName_Flight_Information: Dron555_Flight_Information_reciver
 LOG:
   logFileName: sub.log
+UAVLINK: "None"
\ No newline at end of file
diff --git a/class_model/src/utils/readConfig.py b/class_model/src/utils/readConfig.py
index a5ad7f6..b7615f5 100644
--- a/class_model/src/utils/readConfig.py
+++ b/class_model/src/utils/readConfig.py
@@ -65,7 +65,7 @@ class Read_PUB_Config(Config):
                             "msg_format": (str,False),
                             "uav_id": (str,False),
                             "baudrate": (int,False),
-                            "port": (str,False)}}
+                            "ttyport": (str,False)}}
         self.setAttribute()
 
     def __str__(self):
diff --git a/class_model/src/utils/uavlinkConfig_PUB.yml b/class_model/src/utils/uavlinkConfig_PUB.yml
index b12a931..25b9616 100644
--- a/class_model/src/utils/uavlinkConfig_PUB.yml
+++ b/class_model/src/utils/uavlinkConfig_PUB.yml
@@ -2,7 +2,7 @@ UAVLINK:
   msg_format: Proto
   uav_id: \x01\x01
   baudrate: 250000
-  port: /dev/ttyUSB0
+  ttyport: /dev/ttyUSB0
 MQTT: "None"
 #ROS
 ROS: