From 519c68c810be6b710081e709af88554dbecfe1f1 Mon Sep 17 00:00:00 2001
From: RangeOfGlitching <tony880828@gmail.com>
Date: Fri, 23 Dec 2022 01:18:24 +0800
Subject: [PATCH] 	modified:   Stream/uav_proto_msg/utils/mqttConfig.yml 
        |_ change hivemq broker ip 	modified:  
 Stream/uav_proto_msg/utils/protoJson_mqtt_pub_data_to_ros.py 	modified:  
 Stream/uav_proto_msg/utils/protoJson_mqtt_sub_data_from_ros.py         |_ sub
 and pub should migrade to controlDrone 	|_ test it fine without ros

---
 .gitignore                                    |   2 +
 Stream/uav_proto_msg/mqttPubMain.py           |  45 ++++++++++++------
 Stream/uav_proto_msg/mqttSubMain.py           |  37 +++++++-------
 .../__pycache__/protoMsg.cpython-310.pyc      | Bin 3250 -> 0 bytes
 .../__pycache__/protoMsg.cpython-38.pyc       | Bin 2181 -> 0 bytes
 .../__pycache__/protoMsg.cpython-39.pyc       | Bin 3284 -> 0 bytes
 .../__pycache__/duration_pb2.cpython-310.pyc  | Bin 2466 -> 0 bytes
 .../__pycache__/duration_pb2.cpython-39.pyc   | Bin 2156 -> 0 bytes
 .../flight_information_pb2.cpython-310.pyc    | Bin 3134 -> 0 bytes
 .../flight_information_pb2.cpython-39.pyc     | Bin 2380 -> 0 bytes
 .../flyformatioln_pb2.cpython-310.pyc         | Bin 3236 -> 0 bytes
 .../flyformatioln_pb2.cpython-39.pyc          | Bin 2926 -> 0 bytes
 .../__pycache__/flymode_pb2.cpython-310.pyc   | Bin 2651 -> 0 bytes
 .../__pycache__/flymode_pb2.cpython-39.pyc    | Bin 2457 -> 0 bytes
 .../proto/__pycache__/imu_pb2.cpython-310.pyc | Bin 4074 -> 0 bytes
 .../proto/__pycache__/imu_pb2.cpython-39.pyc  | Bin 2876 -> 0 bytes
 .../__pycache__/odom_pb2.cpython-310.pyc      | Bin 2833 -> 0 bytes
 .../proto/__pycache__/odom_pb2.cpython-39.pyc | Bin 2195 -> 0 bytes
 .../__pycache__/timestamp_pb2.cpython-310.pyc | Bin 2174 -> 0 bytes
 .../__pycache__/timestamp_pb2.cpython-39.pyc  | Bin 1864 -> 0 bytes
 Stream/uav_proto_msg/protomsg/protoMsg.pyc    | Bin 4301 -> 0 bytes
 Stream/uav_proto_msg/utils/__init__.pyc       | Bin 291 -> 0 bytes
 .../__pycache__/__init__.cpython-310.pyc      | Bin 500 -> 0 bytes
 .../__pycache__/basicMqtt.cpython-310.pyc     | Bin 844 -> 0 bytes
 ...oJson_mqtt_pub_data_to_ros.cpython-310.pyc | Bin 1823 -> 0 bytes
 ...son_mqtt_sub_data_from_ros.cpython-310.pyc | Bin 3584 -> 0 bytes
 .../__pycache__/readConfig.cpython-310.pyc    | Bin 1839 -> 0 bytes
 Stream/uav_proto_msg/utils/mqttConfig.yml     |   2 +-
 .../utils/protoJson_mqtt_pub_data_to_ros.py   |  22 +++++++--
 .../utils/protoJson_mqtt_pub_data_to_ros.pyc  | Bin 2060 -> 0 bytes
 .../utils/protoJson_mqtt_sub_data_from_ros.py |   4 +-
 31 files changed, 73 insertions(+), 39 deletions(-)
 create mode 100644 .gitignore
 delete mode 100644 Stream/uav_proto_msg/protomsg/__pycache__/protoMsg.cpython-310.pyc
 delete mode 100644 Stream/uav_proto_msg/protomsg/__pycache__/protoMsg.cpython-38.pyc
 delete mode 100644 Stream/uav_proto_msg/protomsg/__pycache__/protoMsg.cpython-39.pyc
 delete mode 100644 Stream/uav_proto_msg/protomsg/proto/__pycache__/duration_pb2.cpython-310.pyc
 delete mode 100644 Stream/uav_proto_msg/protomsg/proto/__pycache__/duration_pb2.cpython-39.pyc
 delete mode 100644 Stream/uav_proto_msg/protomsg/proto/__pycache__/flight_information_pb2.cpython-310.pyc
 delete mode 100644 Stream/uav_proto_msg/protomsg/proto/__pycache__/flight_information_pb2.cpython-39.pyc
 delete mode 100644 Stream/uav_proto_msg/protomsg/proto/__pycache__/flyformatioln_pb2.cpython-310.pyc
 delete mode 100644 Stream/uav_proto_msg/protomsg/proto/__pycache__/flyformatioln_pb2.cpython-39.pyc
 delete mode 100644 Stream/uav_proto_msg/protomsg/proto/__pycache__/flymode_pb2.cpython-310.pyc
 delete mode 100644 Stream/uav_proto_msg/protomsg/proto/__pycache__/flymode_pb2.cpython-39.pyc
 delete mode 100644 Stream/uav_proto_msg/protomsg/proto/__pycache__/imu_pb2.cpython-310.pyc
 delete mode 100644 Stream/uav_proto_msg/protomsg/proto/__pycache__/imu_pb2.cpython-39.pyc
 delete mode 100644 Stream/uav_proto_msg/protomsg/proto/__pycache__/odom_pb2.cpython-310.pyc
 delete mode 100644 Stream/uav_proto_msg/protomsg/proto/__pycache__/odom_pb2.cpython-39.pyc
 delete mode 100644 Stream/uav_proto_msg/protomsg/proto/__pycache__/timestamp_pb2.cpython-310.pyc
 delete mode 100644 Stream/uav_proto_msg/protomsg/proto/__pycache__/timestamp_pb2.cpython-39.pyc
 delete mode 100644 Stream/uav_proto_msg/protomsg/protoMsg.pyc
 delete mode 100644 Stream/uav_proto_msg/utils/__init__.pyc
 delete mode 100644 Stream/uav_proto_msg/utils/__pycache__/__init__.cpython-310.pyc
 delete mode 100644 Stream/uav_proto_msg/utils/__pycache__/basicMqtt.cpython-310.pyc
 delete mode 100644 Stream/uav_proto_msg/utils/__pycache__/protoJson_mqtt_pub_data_to_ros.cpython-310.pyc
 delete mode 100644 Stream/uav_proto_msg/utils/__pycache__/protoJson_mqtt_sub_data_from_ros.cpython-310.pyc
 delete mode 100644 Stream/uav_proto_msg/utils/__pycache__/readConfig.cpython-310.pyc
 delete mode 100644 Stream/uav_proto_msg/utils/protoJson_mqtt_pub_data_to_ros.pyc

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..fcabc20
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,2 @@
+__pycache__/
+*pyc
\ No newline at end of file
diff --git a/Stream/uav_proto_msg/mqttPubMain.py b/Stream/uav_proto_msg/mqttPubMain.py
index c2e2638..774ea80 100644
--- a/Stream/uav_proto_msg/mqttPubMain.py
+++ b/Stream/uav_proto_msg/mqttPubMain.py
@@ -31,6 +31,12 @@ class fakeGps():
 class fake_hdg():
     def __init__(self):
         self.data = 40
+
+class fake_formation():
+    def __init__(self):
+        self.velocity = 100
+        self.type = 3
+
 # test json
 class state():
     def __init__(self):
@@ -39,19 +45,25 @@ class state():
 
 
 
+
 def init_dataFormat(cfg):
+    ros_namespace="/drone1"
     if cfg.msg_format == "Proto":
         utils.Proto_msg_from_ros.client = client
         utils.Proto_msg_from_ros.flight_information_msg = flight_information_pb2.flight_information_message()
-        utils.Proto_msg_from_ros.flyformatioln_msg = flyformatioln_pb2.fly_formation_message()
+        utils.Proto_msg_from_ros.fly_formation_msg = flyformatioln_pb2.fly_formation_message()
         utils.Proto_msg_from_ros.Flight_Information_topicToMqtt = cfg.Flight_Information_topicToMqtt
         utils.Proto_msg_from_ros.Fly_Formation_topicToMqtt = cfg.Fly_Formation_topicToMqtt
         utils.Proto_msg_from_ros.Fly_Formation_topicToMqtt_QOS = cfg.Fly_Formation_topicToMqtt_QOS
+        rospy.Subscriber(ros_namespace+'/mavros/global_position/global', NavSatFix, utils.Proto_msg_from_ros.callBack_gps)
+        rospy.Subscriber(ros_namespace+'/mavros/global_position/compass_hdg', Float64, utils.Proto_msg_from_ros.callBack_compass_hdg)
     elif cfg.msg_format == "Json":
         utils.Json_msg_from_ros.client = client
         utils.Json_msg_from_ros.Flight_Information_topicToMqtt = cfg.Flight_Information_topicToMqtt
         utils.Json_msg_from_ros.Fly_Formation_topicToMqtt = cfg.Fly_Formation_topicToMqtt
         utils.Json_msg_from_ros.Fly_Formation_topicToMqtt_QOS = cfg.Fly_Formation_topicToMqtt_QOS
+        rospy.Subscriber(ros_namespace+'/mavros/global_position/global', NavSatFix, utils.Json_msg_from_ros.callBack_gps)
+        rospy.Subscriber(ros_namespace+'/mavros/global_position/compass_hdg', Float64, utils.Json_msg_from_ros.callBack_compass_hdg)
     else:
         print("msg_format not found")
 
@@ -62,16 +74,17 @@ def on_connect(self, userdata, flags, rc):
     print("Connected with result code " + str(rc))
 
 def on_publish(self, userdata, mid):
+    # print("pub ok")
     pass
 
-
 if __name__ == '__main__':
     # Read Config
-    cfg = utils.MQTT_ROS_Config("utils/mqttConfig.yml")
+    FilePath = os.path.join(os.path.dirname(__file__),"utils","mqttConfig.yml")
+    cfg = utils.MQTT_ROS_Config(FilePath)
     client = utils.MQTTClient(cfg.MQTTClientNamePub)
-
+    print(cfg)
     # Setting Config
-    init_dataFormat(cfg)
+    
 
     # Mqtt
     client.on_connect = on_connect
@@ -81,31 +94,35 @@ if __name__ == '__main__':
     client.will_set(cfg.willTopic, cfg.lwt, cfg.willTopicQOS, cfg.willRetain)
     client.loop_start()
 
+    # Ros
+    # rosClient = cfg.ROSClientNamePub
+    # rospy.init_node(rosClient)
+    init_dataFormat(cfg)
+    
+  
+
+    # rospy.spin()
+
     #test proto
     gps = fakeGps()
     hdg = fake_hdg()
     state = state()
+    formation = fake_formation()
     while True:
         #test proto
+
         gps.latitude = random.uniform(0, 10)
         gps.longitude = random.uniform(0, 10)
         gps.altitude = random.uniform(0, 10)
         hdg.data = random.uniform(0, 10)
+        formation.velocity = random.uniform(0, 10)
 
         utils.Proto_msg_from_ros.callBack_gps(gps)
         utils.Proto_msg_from_ros.callBack_compass_hdg(hdg)
+        utils.Proto_msg_from_ros.callBack_fly_formation(formation)
         time.sleep(0.25)
         #test json
         # utils.Json_msg_from_ros.callBack_gps(gps)
         # utils.Json_msg_from_ros.callBack_compass_hdg(hdg)
         # utils.Json_msg_from_ros.callBack_state(state)
         # time.sleep(1)
-
-    # Ros
-    # rosClient = cfg.ROSClientNamePub
-    # rospy.init_node(rosClient)
-    # subscriber = rospy.Subscriber('/mavros/global_position/global', NavSatFix, utils.Json_msg_from_ros.callBack_gps)
-    # subscriber = rospy.Subscriber('/mavros/global_position/compass_hdg', Float64, utils.Json_msg_from_ros.callBack_compass_hdg)
-
-
-    # rospy.spin()
diff --git a/Stream/uav_proto_msg/mqttSubMain.py b/Stream/uav_proto_msg/mqttSubMain.py
index 2dfdec5..5ca9a23 100644
--- a/Stream/uav_proto_msg/mqttSubMain.py
+++ b/Stream/uav_proto_msg/mqttSubMain.py
@@ -17,27 +17,30 @@ def init_dataFormat(cfg):
         # utils.Proto_msg_to_ros.publisher_Fly_Formation = rospy.Publisher(cfg.ROStopicName_Fly_Formation,String,queue_size=10)
         
         utils.Proto_msg_to_ros.flight_information_msg = flight_information_pb2.flight_information_message()
-        utils.Proto_msg_to_ros.flyformatioln_msg = flyformatioln_pb2.fly_formation_message()
+        utils.Proto_msg_to_ros.fly_formation_msg = flyformatioln_pb2.fly_formation_message()
+        
+        client.on_message = utils.Proto_msg_to_ros.on_message
 
         utils.Proto_msg_to_ros.Flight_Information_topicToMqtt = cfg.Flight_Information_topicToMqtt
         utils.Proto_msg_to_ros.Fly_Formation_topicToMqtt = cfg.Fly_Formation_topicToMqtt
     elif cfg.msg_format == "Json":
-        utils.Proto_msg_to_ros.rate = rospy.Rate(10)
-        utils.Proto_msg_to_ros.publisher_Flight_Information = rospy.Publisher(cfg.ROStopicName_Flight_Information,String,queue_size=10)
-        utils.Proto_msg_to_ros.publisher_Fly_Formation = rospy.Publisher(cfg.ROStopicName_Fly_Formation,String,queue_size=10)
-
-        utils.Proto_msg_to_ros.Flight_Information_topicToMqtt = cfg.Flight_Information_topicToMqtt
-        utils.Proto_msg_to_ros.Fly_Formation_topicToMqtt = cfg.Fly_Formation_topicToMqtt
+        # utils.Json_msg_to_ros.rate = rospy.Rate(10)
+        # utils.Json_msg_to_ros.publisher_Flight_Information = rospy.Publisher(cfg.ROStopicName_Flight_Information,String,queue_size=10)
+        # utils.Json_msg_to_ros.publisher_Fly_Formation = rospy.Publisher(cfg.ROStopicName_Fly_Formation,String,queue_size=10)
+        
+        client.on_message = utils.Json_msg_to_ros.on_message
+        utils.Json_msg_to_ros.Flight_Information_topicToMqtt = cfg.Flight_Information_topicToMqtt
+        utils.Json_msg_to_ros.Fly_Formation_topicToMqtt = cfg.Fly_Formation_topicToMqtt
     else:
         print("msg_format not found")
 
-def on_message(client, userdata, msg):
-    utils.Proto_msg_to_ros.ros_pub(msg)
+# def on_message(client, userdata, msg):
+#     utils.Json_msg_to_ros.ros_pub(msg)
 
 def on_connect(self, userdata, flags, rc):
     print("Connected with result code " + str(rc))
     client.subscribe(cfg.Flight_Information_topicToMqtt)
-
+    client.subscribe(cfg.Fly_Formation_topicToMqtt)
 
 def on_publish(self, userdata, mid):
     pass
@@ -45,22 +48,22 @@ def on_publish(self, userdata, mid):
 
 if __name__ == '__main__':
     # Read Config
-    cfg = utils.MQTT_ROS_Config("utils/mqttConfig.yml")
-  
+    FilePath = os.path.join(os.path.dirname(__file__),"utils","mqttConfig.yml")
+    # Read Config
+    cfg = utils.MQTT_ROS_Config(FilePath)
+    print(cfg)
    
     # Mqtt
-    init_dataFormat(cfg)
     client = utils.MQTTClient(cfg.MQTTClientNameSub)
     client.on_connect = on_connect
-    client.on_message = on_message
     client.on_publish = on_publish
     client.connect(host=cfg.host, port=cfg.port, keepalive=cfg.keepalive)
-    client.loop_forever()
+    
 
     # Ros
     # rospy.init_node(cfg.ROSClientNameSub)
     # initialize
-    # init_dataFormat(cfg)
-
+    init_dataFormat(cfg)
 
+    client.loop_forever()
     # rospy.spin()
\ No newline at end of file
diff --git a/Stream/uav_proto_msg/protomsg/__pycache__/protoMsg.cpython-310.pyc b/Stream/uav_proto_msg/protomsg/__pycache__/protoMsg.cpython-310.pyc
deleted file mode 100644
index 9d7a7bebf0fa0e16b65edcf07d4f8d0cd492fde9..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 3250
zcma);OK;mo5P<m-NlDbxPU6H#6C}++Kw$wv(L>RPoHz~~SP~km2)ZahC|a7PDvIio
zG9tqT3MAK}=((5p)cVkC|3DA<14R!k&<6^%%`HH0J#}VD%8V@ArLeOztL5zOH^bfa
z3Wb~iPy3gzdP`+N_ydjfBZJX^;y(sK1u6~%S0ths>5?lGIo1_7Lo%_hx*E}9U3ar2
z8|yhYPx7&DxCK&(^`cvn1W|Cyq$~>e1S(PasX*l?5~)yeOQ<O?V059?Lz#XQFd9(&
zAqYz#A{B^a$+W^fh)+bKa7&??r)XukrBaPsDz|i+<(9^+9L;k}=axYW+{$vRNK4$x
z(K5`b8kR=P3%sUpKV;p}$YSd~38s-eNG=2A4ix`Bh(LHI9tfXFRNR;Pk||S(*9w(+
zouSIUWUBiDySOhs(+-3!VP9l70==Kzmw<eRs$a;^Cc)TR%f8zG`DO3$w}$=hkKh0P
z{MVlv_TIPd4_|)wykUR+=ap~%?)4g-Ly4%)kXpllERUGwTWr@E+9sd2x$Rg3Y7V=u
zRm+9vw+D{B6PV6$+hcAwaJ->8dUT6in$zxDzTdSiBHJUM$eXJj5bYL`S2sIE+p)S7
z#t1807IV4-XV2<*TLHtSeBTGJk^ivJjJ$Nb`_NjG!yL>mdVz*&;9*}fZ&t2v9|{bU
z_TPu~9nZDufj6Ag*DU{&z#G*cw71MVp6iZ>PA^(U^Mg*uY~E_tVH#G~t&h9AF#&K@
z=PafQ#Byac39H9fUBD<Vg3u*h#GfiEAQiC;W$*e-CafHHaB^<EJ(C-z6bOCD2~&Yw
zs6Z}c;#^n`)V{`Z0ltrEE-0-RpM!@E!-T8pVP$(TNrE_tqIeFPV(=K)B!K#^HSl^)
zFd?P&&5z9W_JihXXQSORcf-OfZ!pYbrlQbr5Si(yXF(7gF74a5d2k|;$8IGMm!SBt
zzW_d!W1FJ8avWXC-^tWI250~0i|VVUMl<k*sisa<UT1;pb>NzdxxNwP`v&K#QGLoa
z+xiQJfam4=u_82LMQ_;AU*$wuOq8WY9Ed`wIqsN$MEQ;8hg0YV8uup5Ga>7U%C*OF
zJ&Ef*QovrTy`DAT-Ly!3Ok!n{D0`=cW&tOV{-R;Tnc#$_nLamRVg3?`B+sL4Pv!d6
z*?`S>I5}i%;P$MLL1@lHXw*0~*8;7t^U%N+J`Ii9Vwg*;f}#o{W}Xdok9sbLZg|vk
zr_`YxEhOGvYd1|G&TAmf>r*){a;Im2EYEg&6XxaP<Pwr8hSz2p&c1vyM0A@#gna_e
z5K{(dMS!Nn(3XNsA2J<JYbqts4&_!%NelDv&ALE@gDNFPvMp3`GibKg?wVVj)!Q4J
z8{{rA@GIx9U=E$K9b8Dfoq=m%PQL~$?Vn;yEJf?aEUh{3o($}*6fl4U$L|4LUjSJN
zEICGYF;M!jNdU4}w^pZdyOd;?8X9!Wj?PAXEw*6$WS-mV4n5!Mc|+=-254#O;|xNJ
z^E%=^!jBN;(g)D%vxw%sd@`eSQX!)QxQxX~l@MB*5=tc%y8!d4sbL{-AbWzYJK`yo
z?Ib2C-m`)`W5(bPf{mw<NjY(?V;j}Eqajk@Ixs%N!)5R0EP=WGTQzBYy_OGkliz$y
zGt8No*W-Z&x?!51j=KZA6QKnQ3Y?y61v?&P29AVB8Cyhg9>qlzmr=Zi0xu;g!4E&Y
z5u)N_4_%NXLzE0CIVeRac_>*dWszauT9sVjD}gJ-%rVX|?&Nav@4WjO!wWGfL|x+J
zhb>@RF=|V;M|KVyt5M@LSK!9Smhq2DGRSnBV0b2wg{b`qExvID|5>&@&mLGSyu+jM
p_DbrqNA#pMx<lYPQ=B+9WEAS}M4@<31dH#ThG2+Czp7Z3{{vF$I7$Ej

diff --git a/Stream/uav_proto_msg/protomsg/__pycache__/protoMsg.cpython-38.pyc b/Stream/uav_proto_msg/protomsg/__pycache__/protoMsg.cpython-38.pyc
deleted file mode 100644
index 7f5037e97a4c726472d6921ee38da36d56c58be1..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 2181
zcmah~PmkL~6d&7(?fl#9ZWoGLsv<y0;gCo@7szV=l$ACKbaz!Tmr<JWdXr}2bnGlm
zv`9#;#07~Dzy(gw1J`~54*dd%gE;^~0($G26Yq`f)ay;Ow&u-m-n@A;?>BE|jw+QR
zf$yu&zwSM=2>A;e>Cb>h6N*0s!3o!fL}*mgBCHF88Zpj^Jk7`06c)8&Y>NUd#JDI*
zv=rmAsOUr^Vuh|~<PPCFH=Yn~Jl1KIYX_v3djT_&b`NFxo3H3&&^m-_oKW2{xW@G-
z<grF`fDN8gI1f0_O@&Rs7Pl3)02g>sVVjp=wsKe<OE2(RzI#u0$74sHn^=RnbSPU;
z{P#fw<U8$q@&yobMg}@FxUT9PH&mVHxiiAdGXk#jZTIHjx0k)Ae>B|>etGui^WT4M
zy0ag}&)@v?yy<@X_l+O^?e&^9D}4QU*mq9?)*l^vQgnm9H)7-ax9GJ6dg1tf*LA4j
zj(uwEZyti^w5hSVe@Lwpr_1{zx2DlWE`{$tB{By={CBT$;t8h_c%x}!+wmU+-nenM
zbHKJdAts}KFIq$E)5Am7y47kN1k&k>#-w}76j=;hH58fy;IBTOhU*uXTte!~Ac$^j
z(Qj(Aw==BQFAiM35!b+3dLx(~kO6D}1M-1*z5U`#u&Cw3wd3J5;dB_0`WmQMq8qV<
zPy5svdcA%yrPba2&)9C~Zfo;!uhV9yVddNiAQ!!+UHGnIH4=H4Sr$NSK=Ex57`F+L
z&u(0dIpt@0xVOPaI^1P>H!zvS^N@!ovpM7-)CEO|)&2+9LCDLGVnCWPu$ykwwVHs9
z1iaC#6+^2pCMp?A2oko+d#xjOXDU6+1ZpbuD6Xe8j~z2wL8HxH&lxH!D}s+`45kT~
z0i{>adpiHYZ-&&cnz6YK3-?!X_4CAv(rb1zOLS)Ba;o12Z<kT6D9yDcUZ4`QTVi(C
z%+U6@Clpy_g%Y+v?}&)0&UUB8fGJf^;~ELrP$Mp3U^Q#>9!%`3i+oPO?5%9@*+I*r
z$COQ?hZ6-?8-r5?CrWGAa$yP5UO*@+!fMh;g51Dk)9P&Ru%q_DCp%kvyL&s^w2VhZ
z4T24YFs~-VE{XKY0=qf}Yl4XOd-hH?&;?`KwL)k!HtGt8v9QQ+Et4VQGGh-X-C^8Q
z_5--{dcp}#JT7q(b%x~%BFr(ljsh>wlu&0Kp9eheKC)-)x>mHIm{5vPEM1dmQCp=~
z)q3Hg%UnqkFA4f)(!1y>kOrDmA`?tzcphX0bt{oh?J+8=s9cYfd?H^xCgpRjwPd#W
zj><J0dENCqcj(kr_x;Inec;1m6kV6pPPDX?QmgP%q$rM%nb5u+vHc;wqCQet)?WSV
F`u|-tJ>LKT

diff --git a/Stream/uav_proto_msg/protomsg/__pycache__/protoMsg.cpython-39.pyc b/Stream/uav_proto_msg/protomsg/__pycache__/protoMsg.cpython-39.pyc
deleted file mode 100644
index c72bbd6963a168bc3d80266fd84060a1db48768a..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 3284
zcmai$&2Jk;6u|e(yX&vmagrwVgQ7wYmQY+ps0YM{)1;|V#kOdS3L~VI>)CA9c)ezJ
z9W{}WklHIkoVhe7$bl>W0Ehkqh{JLKgaq`~Gbi4g{m9m_leOmUd*hk6Gr#xdqf;#A
z1b8;a-*#8Zg76m_=|={m4#j&6f(lgZ3yw%cG1MhTCUT@JPKIP6U3D~~MY`@}NjB1R
zPM+i=z2Fo{G1BLpk|c<NQzm6mxF=AF%1;F<Kat2h6?cWI@&djtG`lF%j{-&=iZ=jZ
z3Phv=kxZG+a}VMZktkqQs6sPO(aM0eKvk-7O9g9@>NLwO4Xh=aqj_%WU|pgGTI5z1
ztYtb!OWexQGK^^@C=HqGyA98J$U4KJ$+o%@3?qJ!Tn5Sp6z@I=Uw9@S3tvi997{dP
zkg3Gq3YGagLzS^)sAGYxjiqPWv9K$QMYiSZz3f;5@)@drEkm6I-`1Me_1<qUyC;9t
zt@nTV>CflC|5~?>esF&N=EvuC>$|_NegAK_TW_C8M70Oh9QfqQkeQyz4(x$t@L?N!
zw%Mn~pyQa;TySZxZ(IAmVGs6P=5&199T>w$Yvl5jddKv<j%5<r8hS+DS#N`AHHo~w
z(<a)!*`e@_V1CzRcBgM2nQeF1XIPc*dEhnl9~2v*m$rK!YO8XPgVBW@XrTHowk6X>
z<#^VKz%Xh5dsy3d9kWJV>ee<*?{nWB)*iHWjSbgvMgzMWPNVTryKOYq8Z{V(*>P&4
z&Ot-~T-7*>M1feY4iAIM*;yAcii;owNf*PPDk`8UVp%-8F_8(YXC2JWjd#ImIyVf-
z7kZErh61^819Bk~<-%=W?P)w0V0|RHpfq261s>WA6RxTU^LzcnIEei)ic3%xfycnc
z0n`u7zT36^LsHt>`PA5IJ!q`Aw_8o)ASk}lgJB*s6@`W$k(rKq76if1rG0xA4^AlZ
z*sKKNG87N?7miQm*dlb-&Z0~Cn@#OA@Rg=EYen@`L!%j3VXC21mA|vVbrZPeBCenK
z`Cfr@)u^6u%{KqR@e0Dr4<kjWM~Ysz!oSL~vKT8X^(YX<K(n0@Uqt!s#>WZt0vh)Y
znQK7S5tVC?qxWI-J|abIwchQTecnt9)yE`K4rAr$ywEJ*0MaWOzBmz_pfu6uCQQs*
z!PzBw9%g%z>(?g(HsN7*$Tq?2MInRGybYmIqtMiSt*7(Qz!si_Mr|_8B{q+u0wQ9b
z4RqKG91gwUQqxJOLp@qZytUbC7(krAfjEDk%W;uAy#Qo+ve7#*E)NHHN-|;i#w5eZ
z&a)w++ZZD36L5wYGC;cu(3A+;EkDzPOvlrjN-?w(xfxN?f;_BQ2Z(S`rPzqKg$iy4
zjn?K}W4FD2XM1Ox+$9BE<-7~#&^g<|a_sE_Tnkg$)nRJh9EgxuLhH>*T2uPY26h|#
z#lQd(9KXkKeF0>zgC$4E)_kQ0n*<<xb!)ZjcS><~sX>8`*y-7*Z$=hupUicdoq_9_
zU3Wme^8l?RJ}w}%IISVxBN9Zp(*x+ONkr2+&t{ZPDr9sFm$4|RVnVkPLaC%;%P^j*
z8WepSvd8Z@L!MIEc5ITld#1lJVhrveSa}|qloQ81vr#Rbej){~o#ufjN_48+oa8aJ
zce5&OZOttCKsWgP$S{JOf!ROmo1hmA<BL(Jk2fc@VA{UjbxeQXrK|ws;RhaDMC}ra
z*HBzRaSa7tT~dM{k$7)J#k&eZmn5-JfRckU2PF?B8y1Ews}-`$=Lgq}iKCw3@*!8_
zf2ZB)7+#u5F>DeYQEUP0=EAyo3uQ}KSqUqXe1cmc!_%D1#~(?y5{BmnSqSS-fnyJx
y7rA1&uGKeJd4orzz17r(kmzx3c+bFjrYLb}NGQ<X3j^_i2o}Fm6vXteBL5F=RXo}N

diff --git a/Stream/uav_proto_msg/protomsg/proto/__pycache__/duration_pb2.cpython-310.pyc b/Stream/uav_proto_msg/protomsg/proto/__pycache__/duration_pb2.cpython-310.pyc
deleted file mode 100644
index 70a41645dfbb8dac147e9a71c098fb012766e58a..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 2466
zcmd5-&2Jk;6yF)IKeDmCiPNS|)23-kp($X~4?a~@(1cbMN*a<NBwt3mp0T^hdUrLm
zE^*Xb5hvP9|AB;C5q|*Z@L$Y<3JL;q<b>K%cr*4oZctCXu&e#~&HI}7-n@AZ3kA!7
zXYaeO>j6-Y)MEHi(huPiPmy6zgCgIk8O+!~)R;0T-ZZ#PQ`G#@h)OiAerp)CGJdLM
z*3w8>WP#4qvYO5TovV##dIV^zHi`^3x|82EY6X_wC{l}#(mcboa0dYv?;vX5P1kIY
zjnVf#gO1Vh`-qn41mGcx01q=8a8lDpKySRSSJrw{fJdnTI8BcM9;X;^hMoYN)tr-b
z4(L-_=N0Ycw8oytSGDvt%{ik{?{^Ok?KBVeC3+U{sP;Imy&tEq17}8aUTUYNiujGD
z%Hd6o6^*@Usye>6Xda~JH2=KD3-lsz-lp%|NB2;z#7fNGn4sgA3|81V#Oz%JbsyO|
zOvhPvW3qwR5mut_()aG--Bhg%I#aBybSPprIZDx*G5<kV^~G{G1z3k>7(9wr-vWHX
z1h{R0I$C~UJU|j{ab=+4u~WSnwpcX|gHCmkiOo2Ss;f8F$U@j^wF9s2#9kPXrBBz_
z$<q0y>RQa1)2g<eTO{IP9Fmr3Ry8#ss<h2}R*`$Y5_M$mlJB%!>Re8%XfS|j@GSiN
zCu9|t4q3JMZDR*=-Bo$wWts88XK-#F$qWnXA!S^pwVw#jsHO5c*u{d3rA3*jb1#ZR
z4y$a73E?!E5^&b=SzV<ED_eA0Zs-&0#E$C-wp~oJsOapr?PeG@eb!sK?M5x5`4`$>
z!IsuUJ#1ADXj~~Q_6xD1Dz$=Y=lUAW(077nCFK3mfxBwliI}Kv2H_XMpn#G4!}kd7
zeS=fiR<7)Qi)XI&V$lA;sPZ}U{ZEw1y0UIRRG}OQymT<|xwBR-39MvWS;6XIKt&nN
zqBE&d!Ab{C5Q;K}W%|nA9rXXm&Fz<aJ}u3_X)&3Nocbo5q|As;5IbA4BpCM`-`i%C
zgpoQ{Aqzvi$mK<-j~pZ~M;dM4C(7G)`M}v#k_yRO!}FQm(NvVQp<1!y1zyl3>da)O
z;W3{InG|w+_C>xb{Zh-c7f`k(GeNuMGTv1eRhrsat{z3&ZC70rnf4u*`EvZGBM4;;
zr|rk&mgBeCRatm$E%W`x?!`31z;%zzdxEg7m<0kVBJBZ5L_LfcAJ^OHBj28RVc=Tc
zRToQI0}n#x114f9x9(k#B%4CvlU=Ff`ize$%dvqa;n4m}$V?cpup#8w&@qYF;c@qr
zGAItQSwOo>ikVODC4uQOkEONv@!G=b^_BG-tI{H*71FlP2+@OKep;qP2jaZNxJsXR
zK_iryxbono;A-H=Q7CdUEcmG6<Ve4+Jl|8;9~!)%IAi3%;E>tH-a*N%5)tak;#FuI
zn63RW#4jpCYo8(QtEz?e8MP6z_}S`5>(_5A%frJ5D~Q|C4J#*CS<{2!^XGlbW7k-~
zVEi(wheSQ}mwFRVO$eFoFQiGmddw$OAa>#@k>!%>Gc;WF|Am^cFwA=;zO1@d{0Wdt
z&7ge$&85sVM(WL|_lY%XBK(hu@iQ}p|29qh6y#5=tmZ07B2^m6r!*67Wzn}%mSzS&
zR^Q8eF#iHillTv_jDI($@Necc{?$B&e=(2aN9GLv**t-NGEd@%=A8MXb=pEjtg^~I
Iv(i@TU$v+ACIA2c

diff --git a/Stream/uav_proto_msg/protomsg/proto/__pycache__/duration_pb2.cpython-39.pyc b/Stream/uav_proto_msg/protomsg/proto/__pycache__/duration_pb2.cpython-39.pyc
deleted file mode 100644
index 0053d3a8eb8c0675e4fc5758839d01bd9ecf8505..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 2156
zcmd5-&2HO95av=MMbnZf%RiBm)D6-GsC$r*6zwSp+SpAH6n0$OMFCzGBzL6Hrntl|
zmD)ybDSGpvZ(#S9K0(jvTkN4d^yG6dMG6$1B_-KWk$Xw(Xl8b1_|44jC}=cX1D}l-
zKSn8Xe`w+Avx>s!xa4QVFqpweV)zCa2ZR}`1~U&0vBoN_`n{2T$SnQqn`mVxm0{Jl
zi1w%<Z~L`^caV4dxq_cV-u35+0rO||bHi_db<kukn`d<}S>q)^+I&fvcWU__?zLEp
zEieKeF6&@{wb>#@Ut%U(M!KT074M3sXm#zhRoHddD()|{>qy^WH!uf=e$jJ<)eG(h
zyUE@=ZTW3zgLkmVTK5fToGpQOP7v|j*)nTE?O>%(;2N~q8hiiLJg@j2v{{9Yw$T{q
zbw>7#^;;LZqT3f0q!E^J`e<IS4P3H{<b{FeWc!uziYRg<v_nDO1ifc`2tCFb?`?uS
z%z4(^eY!_C_;5H%<0!~up3<$a_xI`6y{+C}E+828M!|EM37&I0l!IQuO_?4WiP9?z
z?{%|d<=jt#VaS397Jl_lT!yG2`43<XssOAH&I{uVGd<T?n%l}wFk*UlohTd9h%*p6
zsmnBktwkMGe?vG((AH%jBN1mg7bw++AZ0KBy&<5VK%`Sc$&<&!kSCM{c@PE?PMVVp
zx<zIu-hlH#0;Lp=`o3N0KN<ai-*FcsKJ3m|JZx-^i?E}sv_t&6V~YV#f^^X3Vq7*1
z*UOJHkiEl{f0s^+mxaInLdff%%*x}Php&G&*B+M`ig@VM{T7nsEA6tcy+^-mC^Nv@
zv%qhE>^c)*ZO^Sqh<M6mhuk6`RoV^LN`sWkj)|i6@bydb|Hv&ImwVk()ifA_s%1fR
zh@DinJWliANVO%1I7s3XV3cRNtx`3v=(12v^FHa!^r}0lh?>;n<kq`Py5ovn=*x9s
zB6+ml5+44lx&A0gXo1g)QwB%MPDjHKgsSTPDksV^T5whpgpjC(XMv;)`oSp4>GL2N
zfoi-h*2gEdbejW=SF#?qEf3-}P6wr;9!m;GIiwPESKgGRGU6GCwgy=3#|fyi#V2d;
z%&<5D7y24qe4xn|l5virqvJR_j?PouK~db+I=df3!lZJiUzVz#g3PfY#p%YK33^$=
zX-puqAWT3k=rFCRI~90KKq{N3!243Qu5?r8fyh<!iUv}q>XS=LaqO&{%H8~OZ)5k#
z&i>O~<x)E2Y?J_{>o-(I9wWNvAat>4oc6ggX{cr|i<sAt=CMVSAtLHp<Ir(iM58pg
z944Y!WI<;JimGjvZB{kCMOmntkFbb1Z^z?Fe5xJYONH_t>55(|{5iV$&F&ZbPo8e8
z<*VmH((t%Eb}PFuh_U42?bzz(V@Lr<GO%KJL_FClC!wAksx}r>mBmpmmNXD=5^1vM
zOs>_Hkz4$S=(&pnzO3#8J(OjN#35^>UcME_suHt!ZDRjz&rc-OnN?yFhiF<Q)i>4J
djQp3`GEHq)`j5Ha>^m-T&8Cj|k7K!&e*yS9lUe`(

diff --git a/Stream/uav_proto_msg/protomsg/proto/__pycache__/flight_information_pb2.cpython-310.pyc b/Stream/uav_proto_msg/protomsg/proto/__pycache__/flight_information_pb2.cpython-310.pyc
deleted file mode 100644
index 3b3da9ac58dd6e649794252c57597e495a350a9f..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 3134
zcmd58TXPdtc=zPw(oNE&7fMPmK)F_-ks^Xxv9-`rr%kcV(|Ot1<ea42Zgw-f8>a2>
zhEI<0Ab+5JWX50NpU_zqFL)uo`R0J4-*<9pD#EBEGw#lQ`M&Rb_seOWWKvV$`Q+md
zix1O^@&Jj>CjrDXeBKWsMd1opErlsUSy#C-sBp5OxG5gu^nIn;%ftA~2uMY&P=&Iv
ziW*VCBP=TM7~nD1CGjr6H5OMD5#LGdDl93&>)l-Aah~9+AUt_X<=wZ#ECu{Df5%jK
zil^_Yyhp-bt^(dCQULoUegNcpnsNhD?jXPnR{#$3LjZ^PFu)N$3h=Px9N|X+9}~S?
zxrO$QNlV8iY*;-ZB~D7tDG8;|J8Flw)1cYI#{p)f)j{d!MR|KkdV5)V!+Zug0r;PK
zD~G`1nKD-Htb`L1HuBHPioC)TaC%PiCnY@3Uj@zu{@Pvjj>`Hvx^@xxJsjclyLL&+
zy$*1H*WLim2!9jczOKn`{JV}#Nl$M{PdFJbpkrn1%0I8+Wzf37-<CD(7k#3C{Q$o-
zsOSTLr`8Yh^pqm{C3X?8<W5GUc2(G+uAM=i7SZ)XB~=WGK0eK7Zj;>*8wQyXG2E89
z*p}&U%Zy5yQIz58sxm%X#~UD5hmBW?D&oxtar|cC^C*Cu3W%$@d&)gEP&Zvvkl@iq
zcFn1Xtnb)c*(<`^@SSRQWqDPfbt;vbZ59pRbZmX;y?kC@nq11R`mQi4*_v@fuey%!
z=oPP=l~^0emMpWp=If?ia@<Nozgn1_sBQ(ZDa)u7xN$j*aS;Giaij3_RPY#}3?47N
zo5~L4yNel<ToAFqrhRT)4I;uWI$XGz;9g2@1WB~o_M$=VfyRYbbj_;oxIjfK!t;!>
zzynv5EK$Tnfl7H>m4ajG-0+Qp;fd|c)A>xuj01&5ByxWHBkh?|V`sF`{Poq|xE5NR
z$!F9f>S-d0<y?leh?&KFCWOS;w07uee|j_6-X1Mfu6oi)e3DL}-INwx69zZ!a>HDq
z8Pj+;pteyFL9}WVHz3m>;%(W!u^IGw!Zi)c+!kDSs+hLNk{!Hi!A(K+0t}mVm1>ry
zOGB}eX$gr@#8|56fIZU&*Sfz|1qUTlSlnZn=ynveCjbe;rp?7Bi`cbFLAZ4s%YdSM
z9S4BLiq)!AuVdeWuw@j4#d_8ZPv@d!)GS}WVOTXW$CCT#Aki#}RAyZQ>^IPa>FHwA
z7q$nf!C$2os(VGJD%@W58d_Y=HA7s^u@Kb1K>-qIZ4HklY~lG(Cydu)TH6U!tmTCp
z1xvU+Xf@r|)Lp|agGR)$g;Vlax}(0HZ@7Ma7!|rZ*uv)ZYgmHk3;@ISZ;w8ELMGt6
z9tSIRTpZRKjqS1Ls5Hl?{w}J0fDsJ*g*2@2I0>{XS663O7Ov-)R{~AfD-N$&Lf7T?
zjUNs|-j)|6ZU`4kFK+-w^a4wj9j9!G#@ZBWC07O)hX%Jc(#4ortTpH^{x`$o`rc-`
zN#vyUKW!(AUTF*oi{g>a3#@w%h7+!`=B~S^P*K}su+$um=^i5pmn_Hd8P##%hxEC{
zh52iFeIYluys|WtUs%rROIKG{XXdZ6?#6`cg)O-f?g-jG&^d@+>x>Poh_VU8<L-}#
z4bKZ(xCTtsb-Y1~j<wXdit;dHEZQUj%FUwh_MwAR%Tn{qJqp~83s2tWa(iM^jgDN#
zE%PF<V6o7snrObU5DgQx@kZ3hV=Ycq@;fEu2@R3oC?&tb`C~0Axp>k#MTyo2lChRF
zYBaS_lSarR{QeIX=+6+#2zfvclW*t|@--bJ_vtb6B|T2QpeM-Z^dt%BY4RBzr=MzP
z+nKg9`&)HrSM7z>f&Kzn43M8_hCHN$<VQM0zNf?FJDJ%i`Br9klzc_U=>5bAO~tpH
OV25K*v~UaS4*vm1kZwN!

diff --git a/Stream/uav_proto_msg/protomsg/proto/__pycache__/flight_information_pb2.cpython-39.pyc b/Stream/uav_proto_msg/protomsg/proto/__pycache__/flight_information_pb2.cpython-39.pyc
deleted file mode 100644
index 7fafdf74be2550238a137adf9331c9ae4123ee50..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 2380
zcma)6OK;mo5MELgB~uT|&&ZCWq;AqgKx?5c&{Gh^aAL<rETxuCyeuf~N~TSb#F8>>
zBe(Wcz=!r1*vI^tUJLA@mtLx4(Myp6MQ2D!R^q(4*yT5~GqW?hGh-JD27zzu<<Ffz
zON9J^#PqiU#ABFYStW!Krntl+oE$2QEEA?45m8|&ru|5QyDW`=O9d(2P4zV^t)NB*
zux@2yoCTb<W@0=8*syX6;kk?aC9w)TeOP1$%dtFDxXKDYD6Dv%woKrcm<dDSIMau-
zti)!)@*JCI3$QNoIYvM_8H@M_$))pBEPI2MW64jEU1lp_Q~j9TUaCiMz)6cNAETRW
zmEAfoS@W^C6;_$@_BOi{d;1w%LvKfZqVAiXe$MWGil;sG+UfV$7xC!}e4Z~HF0$Lp
zgf0O#4{tE@A>j)#ssJinl(~7Sz^%_*EHjg54p+Jgzscv>efHp7y-ZoFAajeaPGl+*
znT3f=C6=k63{#q<S{-7})Q2fpI||~_hZyG;%us{nB>{1z{))U(q;euqAzoe|)eihV
zuQ8wbwI@70iu|Cq-)Pb;zuzBtPREWM-=llqw_0>>W3SeX1h@OOfqhH^;YU90hrL>i
zCZN`Jo!&u29k1()exe_=H`aqwnSJQm{Wh~7rQ!U)VG@yn<(lj0UhFy+$xCtp(OzP_
zYF+9sSoFTGDpKcO$7ft%cvk@l9Z9r`XNW8;AZsulc7zi|z5puI=V55~IBp2ub$JJa
z1j-Cg`)%K)%#Q4~9rCmC^;p*9XeF`q7<_Z~i}7BmwJ(j-&Wq+;&PYAqY?YNe$^$hf
z8uhX|CN`h9$|)q)9vdsy&!Zz}=VpymF9>5JxeaX{?V3jBfZNRRdWpIA$fs&rYM$Na
zG85RHBZyS$;i(tdCvq<2!m(ZFj5F#77<MQNQ@o%p(PN4Jo@D^70~lf|4WSW{A>QtG
zwIrZt5joQxxGs$kN;@9oCsOwY{Wcd;i%tVBvz;KIF-p63o4a!Mzz!+nU3=h0^w@R>
zTo&FW^P^}JwHXff5@>dO2*B|m)`XFFLds7f?u8J9G$)XT9Y5e=9v#%Wj>{pIMtu}Z
zqb^f$-w6d^xQanNgJl$xz{V@HsE2Wh`#_4j$kV$HcUdTn$w{HidpwNbCNW0b8G9Qh
z#}~#fGP~_^F^6VK6Ll(VuLo+n?{U8y%F@&`gpn;GS)Af<kI4^Yhs4}CtGqvb)?t5`
z0}qB+Q*xX)XKNo&8RgdSJ5>7#)t25N4YgfWrSarxb8CP1MXRwd4NChy8@Qa(>TQ_{
zPvNGHxxj~tyMk0{Tbe!J@3}lFr}m&L&^eid^cYvF$Rj5^E&x$T1g<Jp6p>S+Z&j_#
zJV{baW^jwLwk&SLgF<^7^#Jh*6^$!~G`I0}rx@w3>)Vl~QK$jyCf$C%yYs9?ckA1Y
z{k_fBZlg~3o;I7CJ5OaXNetRPjY~nSq3y-#JPyZua%rFU97q}Qray9ZhkIPukV`MH
zt9E>MFKJONtfS0`kQ#G3kyyk7%(11>p7<8HQ*AKr@K~+Tbd$$;gpD%%6_%`0QS!-1
zWz(9Xj)wlPp1Yz{Ra0~&3qw~lMSHDfK0^Pc-cVJrg)<q5e$&6YZWArN)8;>F=^ZwH
S*YD*O1BY5f%l~E5SLlCKeVAeZ

diff --git a/Stream/uav_proto_msg/protomsg/proto/__pycache__/flyformatioln_pb2.cpython-310.pyc b/Stream/uav_proto_msg/protomsg/proto/__pycache__/flyformatioln_pb2.cpython-310.pyc
deleted file mode 100644
index dfcb46216251c4c9f80676ffd98a7fa42a895f10..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 3236
zcmbVO+j1Mn5#1duE?g2<k`O78lmuE5K}tj{J8>?GVwnVGR+*$iGO@B%sjUTi057%J
zMa?c4LFG5+G4hLlfO>RQ-tq_jjCn{Zc3d{{1t~jm(ml8cAmvIWnA*dhGu=Jiy*;xG
z(rHt}-)DdPL;bgTP5Xi-<G%t<-o_{VoM{?ppnIC7aqUD0ZBYaEL=#zvf$@8-U4S_K
zwHRt8yjaVy44o{JUc8mCl1fgYoU*2rJcY7pO)J?%dB#fX8c&~PUT9X9Cr@%P4Kt7i
zoioUMq(k<3+{z<gfE*5;lROJ~+ySG)QFtC#%q+~|7-#08h+~|&1PsSGvjB@Y#+l1-
z1;;qE1j{%EOf#vZ6}Sr5o=;hGJbO0J=U(WTgK<_Q$+`rZwE%P0A{4F5z^p5<Xf44N
z3%yt?80%Gd*VW)Uls?g6RpD!(qkMzs5pOE_7V2Fa=&dQeGU7UDh#N46cpHj{cVHQD
zQ!y3z0m`rQ>!5u^{_ZMIZz$}0eN$=tP%%GJsP_C=AKUFMv|NQBBd#m28)~21@DpV2
zz)uk;c2g1k4?8s(diYtB^0=q)=L-AL+*k4a0@Aqpw&EWsd<V9W*@o&T`p3Fe;&Z%o
zvI=i4YW8cq#PcUNpma||Hh*#xawuibZt=W&C(~zZP~uZ3<%Z7Jc?ovl;dAyPW^JI(
zZN5P|pdV@F-5z!SelLbt*GV4yNTz2CpU^<~P(yWn|5NQ#UFuH-87TOsQTZTf@k$i<
z-O4r(pF}~sa(HlLZw0MZ$9L;a<OaUI_sipBd++XE<tP%|X;nJTsofSq6xgk>Sy9qR
zs5HE8BM>dJ^nANrySv%$%G5p2Y1P2FAE%J;cxr|wlKAIB+!ULNo6h=&+8L($f|6zX
zGU1_9|Mjvi6Wp%{zy;;@G8>VgDR~|3Vq)4d&;3rzj=F7b|4umVHWx^mz{9$5+fhKX
zWQ&KP)8w=uc*Em$N*rg|u-mEyo()dq)SQq%o1MsSQzb7oE1`rpIybTI=Bso{kIZ>A
zwTHFw?ZK9XoS8c1UQl<V?t*?zUt@(EW_m((fgzo_o7voX?>F|&!QtM6<K2V(_0RsK
zo9PLvuxu_)5caS3j~-RGc6WBG+c~W;Yi1{xPjmW3@^Ow`BoA`2LeVTtn!mTZU(FeX
zc{4xBA0E7)i(jPQtv=2rYJ*ah<I?b*7MIDkQ-6ZBmx-|JN6u4O2)S?_&wa+h4%+l0
zLYW@p+BG?uw*3C2%W;vzhLCaB2mVwhuoG%rh*{zcY6*G1B0V}e=h??S>e=(`fqX?h
zdeoHiVnKS;l;?S@NRPU<cY@$9<JRS=e!x?Wj_28`K&gi7aU~ff$;7GSb$BSV^#JST
z`mWzp-QCYBH&&@IazrFEV+{A9@Bh`!C~jgL;ugUg!8(FWG+gdMXpP$R*~&zF4m){s
z*v8@#*)9+)l7m#e-BuCGxaZWkC-WaTp$)v@biBw`+3d*l#9Yn{jz`~aYIKC<j2qhg
zX~g{y8$)JCq8-))JlgbTt;yr_Z1vUQPO!ZU8un5Yt~v4<${C-B5%wXqN{B1Nn*=*@
z7za2tj|=+eL*_=7ws8C=S|kFW2aQl{katy<+axtfJC6YjuY>+oS!UAQt{!b2?mjv`
zIFzPsw*u&R+_u#%SH2@-VHbls<$|)eUB3}XX4m9GGYFa<?_Wo?PGi&cBQAW$6LgKr
z?73wzP3$zjg5ez~W{61*U!_R*6<*$jg6bo4_PP5|Cb#>qQ6_20hMLUmV3Xp<WN^ER
zcgQeP#mc=T<t)vAO?~{5v@-U@H6n|Lyy;^3#W~|F&5!Yoyx+gh#XN2yiUgMlmIzh|
zt`b})SVh3%j>5vTOkF)j#2a4VL{@P!2z#%3boAh1Rc899z^--GsT6OL!};+p4To#8
zz(;*D;zr3#mPal<<USV;HrXTkq}Bs(um3Hg1Z8qCkp{T+NZg@Kv%|6s*2cbo>dQ_S
z3Vw0>t#hBQvk(wdu@!x0G*U4m&h-9B=!tKQ)Np37gyM~V8OHxFv9H+5z`HcpOlIig
z!!!(?{o7#dJ0r$$ANEg-=36tVSXvpblE&~s&D2nvECyC&X(ZS;^!#@Zqy4_egYgga
zRAhfQ7TDLuBKyj?!oD<?*x!t0_Jy&+J~ytizZ%!sUyPFR=b0O(P9wu8)6{pF_<sOT
CcAOdj

diff --git a/Stream/uav_proto_msg/protomsg/proto/__pycache__/flyformatioln_pb2.cpython-39.pyc b/Stream/uav_proto_msg/protomsg/proto/__pycache__/flyformatioln_pb2.cpython-39.pyc
deleted file mode 100644
index 76fd1ac131a789691acc8749ecf8bdb877c2d2c8..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 2926
zcmbtVOK;mo5GHAgl4(6C`4KyDocI~bPAoLN^biCMY&kU$KWe*8x<Ij@v@3-QMG8yG
zwT#@_s}KDL_A%%FgZ_*?6a{)Hbnc}{(V{cd!;<ZussTr{-_Gtlc6QcIrA!5Wo9}-t
zf16d5-*7Pan}NaS@CCD)qA-Q2u0j;9)KsR-C`@~&h&eXG^dFSQ5{uzK(Ll>^N9sD!
zRa_BwV|9bXBRK(bf{aG;D99!mi)0hzBuS|XPhF%h6_Vlcn#IOglBJl+HJ1KfWtsCB
z$pW5Z7LdwO9%osw0A2y*&SMcW&L)5ckx4cMG>F_`8qgpz&1QfGk-O|3&>%9)?gMp^
zYCMwW*aP<Pe3VS^%*7<1xKtqq{bC9wa)&8onoW=yHbw3-jof21WR~3{unU<3Umvh}
zAczFMc<muuV2cpT1o(O%_!6II3dG%^CHx1?<#Q|2U15(R%~h61-EIz4kotO6t*Rga
zvcyu6w8qxi<8zBF@Cm+9TVyLU3SHt0JX>34^UoAOv$Yjwft0y;#IsQ}V;8Gzo{!e@
z6_u~?1@?q(oNJdOWF2%K^L5l=>XDK!w6SjX+9SZrD$3m-%J^-<7wEv=E1<6KeNaBA
zQau&8AYvaYg|~j47nsld!WIwSg?^)OxPL@9{d&FWIb}O^e2?yad3;QFpY9fpLc#5N
zp=qDchVVn5)`MyxlKMiS;<hTjsN+i4qm9zjjYdl*p1F3t#O&uWF#QL7iiiWd;Wc^|
zd5w4Ey>bD8USg=)o-|z8()%Q@N`rf4pK*baUBw~{9OABMLnMHKZkBt^It^P5PQMd&
zqrnA$CgVX_IE~Q9QM}HBz^-zf5WM2@G6oH!Owg*Ae3vpiv`cot&&G#h+lT^}3Na$#
z)8-1~+`LU^;lP}PrL>n9k9JMwEHiP!UBB#vt!ee4x~k=t&D4<Uv<7hcX?kP()i-o|
z|8V!k@y`C<+Rs0!W@-q^-8W~30Q%M5(Lr%@XM3l(WhuFFGc!DWVyQR5H<or2+_y$@
zQ)X^>`Kz71qNV31&FnCKxc}OU-Gsj=zOjr_H&ywV)IGb-WxQdR-$CxB5wyI}K9#wE
z3&(byGtQ{rz=H@#Y5;4L<Z#&Xzk|-l1T<Jh#vG6FQ)xgYl(-NRi0N1o@_I(vcx$es
zZ`#m^Z=n0~mVC6aB<0P7w6P?w<B*Xy)@-{5%()My^P?SyM=MR&rBQ+s702a~q@yH_
z6WeX_KxWE5<je6KuNqZ%Cn{?oQ$c8pP^JeE?lF0L9m;+cp3MzaU$0O%dR4lew;~_K
z3OFt9Ae%;puNFy^8;!^t5_9bmcS-iG9Z<$AcGC@M<T*(V50l-S5G|9V{o5+maKoe%
zP<|S6FMvXTH>xMnpzOm{#*-AQz~u0qIa|Cvh#|C{hJ|fx6KxEmT?IB2+#>*@-6LP5
zQE|A-0%`WW2uRZ7K?s$K#S{>;?|l%tMp8ZZnO$<Z7>5ms)n879?Nwo!;d|V#1Y#ZS
zJq9MT;ApQ`bb4rBljc_OX!CIA;CTN~nv~Xk)^s_g`6qHDXazEP!UblDI$p&m8ZD9O
zs_$1_-f2^%W@W?iLM}Yp6=Uc~=GwGKB02`g)$5HSg-D`T0|FBU3RgW+WDv3FwLVGW
zTb&~(ah#&8MAF+(yzszuyRP^Q7p9AFBd<U*j^nSfz6ZcG9cnLR>X26*NV>STID_M3
zIEUArHZLZ@gqT8h7uhVbIb;uz%_Ca`M$7?YnQc7dD?r97u5X8AYS;<7TRb{?@v=zL
zotmJfR&-lM0XLi+Ea{*(M{*n->{Lo0>jyKO9y0rqdtBI1S_k;dmVI}(^G0ESB;FlJ
zojK)DJVB$GURt_y1Mgz=+GC@ESGZF(&#_GfzXD6Bb850jBZ-)<YF#q^G7|lfrmF_x
zf9v}Hkbc+Zy1Pqb)znN?A0*hhXIqQxCDa611)Yz29IYlm?vDS|EKLJ#{5pivFUE3G
NHIcM5qW>gf{{p%3C6oXF

diff --git a/Stream/uav_proto_msg/protomsg/proto/__pycache__/flymode_pb2.cpython-310.pyc b/Stream/uav_proto_msg/protomsg/proto/__pycache__/flymode_pb2.cpython-310.pyc
deleted file mode 100644
index 954d35c0eeb3ec16d2173c297373745961e7a7c3..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 2651
zcmaJ?OLH4V5Z+yl9$xEh`58q?oQJId7IAnJOdLy2xhi&o<v_8QWu+M@a#p*l*;TMz
zxxo?Vl0RS{p}4?L;AhO0B87m0qPQiH&^>xsHYs*$zwP;^r>A?mXV#6ybOoLtzWu8D
zT~twi#Ln=OfX;Pzy+ut?s6tg+F%+h3t5lg*sCHlB2^yf}OQn^jLHrsTXoc)RlNdzB
z8DTrv3>jf5M?j7kBT^m#SvN+dtb-giVyePo2k}G2NU-pBl8(|SjZu|pH2#H36Z=6U
z1$>$&p{WezF`9xEz$<9!{h(yVXa?FaGfpR<4KtHegVtl}L`qY1n$GNx7#Ws07-yM7
z6}%w_6DS#zR57M##+arP#thYrQ?OE&UT-M$6wN+X>1l~Ms)Brmr2x-L`5fq-?&-}+
zz4L$<r~-JAW&khIIly_E2fQqqSLmxCzb17Sq?LliuEp2o=oQH<N|ft8QtP<()jC>!
zL*knfyE<>lS#Q%AjJ_lJcO||@-v{Oz{ot|sNHuaS!*bha=<Kv&o@F_f+CE3K*A!q=
z+p{zYQsUq|OUa!XJ-9%#Y-IalO=Xu@jxNy;_qD@-F$X&HYz}p(T2}JQ9jvB}P5`i~
zqTG8>#&-o?j{rPWKwaJVTKQTP>JG;V5}tlmxaT%m!FQeALXmm*eYaKEyj?a|+-9@w
zG^&>0a2<2~qpdA-eQ~`|_Bpefg|_v;Y;o6j&8Al`NNFGxYW8l^rOa$q78hE(B67{P
zniXm-1<@HObcHB944?maj9y8P@zgw24j{-w3{%?>AsZZVuH;n_VonvTbByXJ4j#fT
zS{<ySL%<@%oOaXncU#Q-oLj9H<3Q?^c~#zM`7ZXtP3C!4o#6myHJep2WauTl-DbtL
zO=|g8#q!u*tQXmW3|J^eND5c?zSoZr&0f(H{axr;Pv`U~P^R1&*sCe^tU4cGj4Z6)
z`gHwvv2?knhkIgrO3#33B5mH?DBmfqtgWt<ib*9sp{EBU<*nr#Yq!>nQc^v}-@Ln4
zEESR0(kVSQ(7(03QA`FZJ)iSIK^&{eM7U*D??d<^<n21XwIk9V;|<Gh>@jM(E!+!F
z#D=(5Mf5!tFZDAY<Vi?`2sRwbc0>p=P+^>pAxAJ3;w3?Juv~`*22pgdV#M(<Iz`|*
z-vH!Cx@(Qp+O}=VfFiYq&7?$75}^l{-DaLhR9%R#;WV7OEQqc{$)U(R-{QWA4>8Q4
zUHd1~$<M*!d=}w6!bJcPsx_ERJ#j42d)X6}urOQ(d=h6*Axr~w;%FyQZMCF}od|Y=
zwpC%aNZqqMld_uCwtZ8^v?^l9`XbsZHaS_03~FCQ8=lE_eCBwNPLUXhrdM_0Ovu#e
z0~R81nCC<OF<YL{2Zo>$`j)6wu^CUJgUP{6lUq(5W`taaxiybp!kAJ3d=8}>s6E=>
z54a!ln$U}-^2+AgovquOLO1bzv~6aZ@@VJtBH-<UI}aE~&&`HYbA@JB#8lmN>o)72
z#7eui&~SXl9n0o;cZkG^VLmEXhVAPgd=CF(*lDx3V?5SXIJyA1OhwW>aS4cUv6})B
z#vzkdM0^#>4DQa}mBN?MRJ;Ube?*Eg?0<}vctjczvv=gh#3rjZV9WW5X$kCaK^8vg
z-d=nhjPnVE8H6lC4gmIX;DJc2Vj&(8MzX(<xn3%lmv5Ftyj!bgWmldWzKAx)hwI1d
zkBKw`C%UyT;06vK4_;(%GKX;sisuggAF8gs-o0Ki2odge1fh+p&*yQ`L_hT2*wCde
ze^Yp~!%w7J7)y9fc+UYMft(s0v`ByiHMQG9YUmk>^m{}LNuK;e$p1;&Us}31|B0T}
zHKKN#PKc_#Ae#1^1T?Ur{S7NU)5DU*k^U%Z^k3BMYvYXGESyO~+Ee+yfNw(klccmi
tNLu@yWVGMNxb`cV(0(D4T8B(&Ka&~l2{}c6isp0`TU<jABhTZ(e*p>!`p^IX

diff --git a/Stream/uav_proto_msg/protomsg/proto/__pycache__/flymode_pb2.cpython-39.pyc b/Stream/uav_proto_msg/protomsg/proto/__pycache__/flymode_pb2.cpython-39.pyc
deleted file mode 100644
index 9f1e80dfbaa42d18805ef5f47c2d4baade829c0a..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 2457
zcmaJ?OK;mo5GE;#qG-LXICktPj^o5p4;JEHgS3ey2L@s%wVW2^WlL#S3KfbZmQ-pP
zxwTgx`VZ`5ilRXKbM{)afX=z4=wpVGXvqz#0Y|gn?9R@MLo1s#B>3&V{h|F!Mv{KR
z#q4hx7N5ft{47fnm8k4Uro^P4Or;fxDz7D8p$V#fFZr7^iT|boyEG@!S4~yM6DcRz
z*UVHT>mci9I+D{M8|FeJ8z5)QtSqtYdG10o^DNaX&;^>ISt>Jy=Dw3@{w!%00WZ-4
zkjzkCq(!&^yaFnnB_m{!mVsuGYjg={7P(Fppb64dBWang&>LrIv&{16*I4;N25;2!
zC6vtTR5F)o*<7JZ<_)Ttt8mjAT?GO^;7Rpv(lvS$JSo!(y#;)I;*|^%+ylFApB1`t
zS3&}0on|9xgWjQ=X9csu%B<46Mb}m&vd${3*t<<vA4-50dmFR>QvUo7D@I-|oNv-q
zmhRo{$m|}g(7W{BnR1aZw_wkGwuO7B+?1+YBdp}%C;_|;<%@qP<FgA-paOd<!FKuZ
zo%Bu?@(ITS5&Q5>?UmPOHR@5XR%gNM(DQ3Y&zoe|>-Pt)-L^v8bIHLM$H(Mg=b+XM
zIkWn;f%S&?+zUO@54yETiiKLo8TLKOh~L`T_J=}$=ve(0wH_tm()aL4JO%7O{-RHj
zzu2#DrE>`J0)tczh30@8?t`i<H0HL!HpiGQqu?4Y(JJ1-bzrc!$lO7nghQW^Z@K0B
zj00#;7PPtThaRp{eHH{(m!X2Qj>Fm*F0Aswu;20=LaoqhSphrEPNLe5f)$dfMZ%}2
zzZ&zZjR!`4nt_S+QpLysM53%fo|ffx`F?Ik-`;!n^}+Lc<CBh&nuw)kqYNTJn7lk}
zzG&?3@9j701*x=TlwwWu`0<ndXZvQOAkX1XU+&i%b;OlY(a6U8pFKXT7ZR<B&()+*
zU8~PT%D39DA$*|)LpQWeL@8k0wjBGEQR4ZSi$G*&Fux_Ho{Eq9SxxdHWM3q0m$DO~
zK?Pcj^D<&8mO^|ah!M8xj3SO=q@ZFxj8Pr1(T~8Y>G56Z&cJa<6p-Gr9TrI{N<w>M
zIRh4meA|QgY}a<XQA3O!D$GO{gcc7)ZU$j46;~@M=IVI5cBRnUvsE7D&{6Egy=o!y
zlyAU-<G|%B$Zh}=dfWFSpG4BJTFeo}S5`nM>sSLPB$59jJHO0K`f7YE9k)5ZhXylt
zK-fvh+yKfa^07#Qwg>M3mV$2r8)2bFPk_z2cW0^}Thlr=b7&xp*iIlaE(=2F5UeL^
zrmtBrPHT4R0JT~U<BMQW6yoEATW%MQX`aixPQbVDzWcamVVX@C992aa^+t2|X#d6W
z^CMvpe0c^ABcxgtiC_p$ykQ(8B(~e}ghE<kx$AjdhmGIR)}XU(yCLJQ<?sbGpTDB!
z@HK=>A=T4?z_W<xWRhNv1%wTkgMsG}DUd6}L8R*Aa)}hG2yKbn9<(3K)5)mepW(q=
z12T09ibY(1i5+?gnmU<`0<m<&x;7-5Upbb?^)clBtMOFhOJJN|N4ARWCbC<=Ace69
zBEN@)yadd`^dfT5Xf_`|ZHU~s)}%Fz-X^|-Hm=P!TQJp$5{s)IW3j{Y!Hc!0%w^ny
zmU)5SjJD?-jK?kpAySitP^sMxc@;0sPeY&RW=4JV>B4yrAC_@XJi?Db@DngyuE?1w
zCG?~!D-+WG)bx0zsIrFmU#j}Q(tD*eIsb>YW+;ZNjtNdp?JAKi9dHeGAJl)8w4#6(
UpE05IyH?4_29lCP^lv@+FFReh`2YX_

diff --git a/Stream/uav_proto_msg/protomsg/proto/__pycache__/imu_pb2.cpython-310.pyc b/Stream/uav_proto_msg/protomsg/proto/__pycache__/imu_pb2.cpython-310.pyc
deleted file mode 100644
index a03d27d780bfa43119a579c89d9d28d0bfdbf4e3..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 4074
zcmeGeTXPdtc=zPwwz;+Gg%o<DP^2o26cGii)V9<r<<jDV8E1AjIVT}yvzysXm?py;
z&N$8pFZ==e=#0O@pWutmQBgrh<C|{|DEfUT*=<T^aA3gU!DRN!cfR}eZ0tlrQ{eN(
z=bsivGm3H-58a<Q98SUGei>90rZCl1atc@0Ri+Fnj9gZn6bmr=ky1^wApYhENQKNm
zh30}PYJ>p~<-!t=03OLjB_0J_%f(cM$8N<pm0W@c*ON?RF&1YkCoFMIWy$NoTngwt
z?7gzWQmp5u%6cVCGZpYYo&wk}@d1$Q?Z^#Exm^G=OaVB=b_3kQh5?SSQGjETGS2n_
zKEcyWxrX-kNlW`BY+Id_5(gyZ1qr3k8)}!ggP_^VrT}K7)gkHUS$TU=dV5KF!+eGq
z0r*tCl>%V#<q}rzkc86`w)4-*ioC+&z&$MKGZG$QuL9*Ld+nxrL(TPdb?q3?dl|w<
zckOj4_XfcKqHD*cw-eGEPRFzD+DYl{P3i6V>e?*Cbd<d%yVl>;wNo-;gpcmpoRoVT
z;P$S~17(CQ0Nl1~a)+L5&laVp)6!FS$DWd>67JFCPyG^T9cAyx`VH_tKCnK>=7tn~
z7w?z&qQv3WSkJJYlL}A~I|kT*#7+U0xHZI6n=0Ie(ObJ&4-c>JDXM&!_pxR6?sc*m
z$c=!^C?D}<j`=eEzRZ}E8S`aM`7#5(%(#>pM;WHBDN|=!c-x<C1ppRQ#5*6v@tKFm
zr2wufAg-SMO!-U|>V|^~65RVRd&#cwY|XYB*#+)iuG!V>>bW(2-mX;YR=Hr*%C@Di
zT)22qUzu6SuGJiFRI+vBie7c>nypvdQdVL<k}X&2dNn^YU2TZSNz<t0nK29RAH^jA
zsN#g-XGgRck&G7KXjhe6kl-e!NY09o2|-wgr&JN*R>5Z6!Hl+Ya6))QtG*Wvk`)@`
zZow&6YqkTYaD}_BQR2vOc+unq%nVK`w^7O4rp}C-kvCl4j6wp_GAE(rLJ~RByrXTA
zCyr~8<(2pKrG{gtlUfLW^^J@=t{x=*xsf5;&dp2!&l9s+6m{nc1#YHOT38~!womZX
zeS)WdL5rb&C!6$`7WYEIUdSL~Gtp^}nBJ=;e1B2`!-~ylQbIb<cXFHx3Thb@F2Yr#
za2ZM^LT<yV85<()a;I#V<tAskUB$Y&BGE;w=A9IjU-(rK(PG^+b!jb9ESp?n6fu!1
z*kH75m93IqYgEBYvCK{8icTGyDKGZvc40-ZY%#teLRP(!=S~X;TToPO;Y5i@p<0!e
zS~v(IXc~ELir!0xt216S>Sj&9VwiP)S|qleMZ8nQb{J6(_S<N@?CN}@#w{086)7Lp
z-GW`^P8!{`qisAKZKK0zKFnwe&9~!<xW(NXR1>psf#bP`x_Z8ukvF;1i@th%P2Dl9
z5@>{Mi`zw4^mKK>tr<?Ol|Y4L7nxhEwS>g2xf9;hHGBQpnC=Xs$7}55H9TH(C$HIB
z1|O}D(NXt+if!ZB%%Hzc+5H*Cv24Xq9hYBhpV#Kl!z%4SQRfrX5vUXHTsl)kXbX#L
z^Q+6}FP>W!nyy!DRyVn>%ll$#uL!seDE}4iU~l!ZRkQ`s^CDHU?UKpcd!Mft9T`dt
zCdj)(9E?yzyyzYLb1h=})?MPr()Z{O-6tZv(4ImOMwZU<B6%7X0dCvQ?d0Ia2XXrZ
zkvfel(M1RrP1~sDqPpCT4_43RG>Oj5&o7?I#U;M7xVAR8v?!A8ebVy{xq!|jS|8}1
zb=TvG!Bt)=!z4P}BND?)+~SS_BYGaM`GRe(w6D*LxUu2RK~PpM)SP~Fkn${bc+OFv
zIwuhLZ<{tIw={CH-I!V2W_K7wB7spg-uXrXG)UC;H>8H{YcZ;lzbPRPXn_1hDftul
z_qDL3BFE#Rg!h1C#FIvijuvXt5V?oX^I(Dg4zY}oyL62FNXN+!bb{Qb`^a~6KlzqU
zl5gk%BIrT#HJzegX@~qwz0Cfv!(+^YKRr)85C3L?{sG+_B)`!N`IQclU+5n4GaV*B
j$qtW_JF?4r$@g@E-i}YkRju<)5}fwP11-1{O9uY|&y{pg

diff --git a/Stream/uav_proto_msg/protomsg/proto/__pycache__/imu_pb2.cpython-39.pyc b/Stream/uav_proto_msg/protomsg/proto/__pycache__/imu_pb2.cpython-39.pyc
deleted file mode 100644
index 64a99e8a0d6e9acd36a7a799dc479dd1218f2d90..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 2876
zcmcgtOK;mo5GE;!lBfq|*-GR*WXDbFxJ|6Y1$rogpn>fe0pdJt_fVn$L2*|K9f}l|
zRA33YwLsB>5B&%BF~6w59(rg`Iu^YYX;E}$`LJvUP0&NR;PRW<ncZ)O!=Y8FXcAoO
zuYa^#O-cF{h3V@O2w%b-{G~_|k%;U{hD4=(nMm^zQC>={MKUD&oiw;ka`-e9uu|Pj
zKWpS<^vDBNjl94Gzy+fya1pR(lw^sPj>^Z9QK7m0D$z)Zl!;6gQu$UU)x(^jgT6*|
z7&65>w?9K_WCnJwlUXtcbA#521lG}L;1et_9M**GMbZ?OA7VRCF2SD4`}XZ+dJ+ye
zsX@vDT_#t^)x(-GE7-P3Yl`gxS^QwO*T~Wbv;Bx%|Bq~MkdFo1Il*?BEKjk$Nmc~g
zPspd3+c>Kj>FK=QBDV$8f3fQ+=kl~l+T!E}ou!Ta3*_d!WL~6m0^bsNmg@UWqTiE1
zi>L*tA<#0Q%F#U4k7cNu;?X6d)BOJBu1v4cS#pQmJyeb}##OLs(W|LVE47(RZ5D*h
zLTa;|+B8y|MPajuHbmZ)R@Nr?T|Aj&V76t%@r4-gb-05pOs^#{m!G_m-pE`&VCW#G
zx8Jm1_<h<YKJnWdG<X^MgZ9qTU31;<_lKTiTcP87=JxZwJ#%|)yS*DSYW3Sg>y<fR
ze(0P1pw|{C1#PE4GzXov)xn4t?zvXKL#+EbIPiD4C6<Tj99QHcxZ;=pS~`O8jxj*x
z30Ga9;N4x3xk^3TCzN44ClN3eMcft7U<H`KRwFd9nKKA|22#FHgTU%hTwt{8QX8WJ
zNe@Q-j_;bp3ayS6&~XvSuZnoMWT*msHvUCBQ7?U=6&`JWWp0g_U$1H^KFx!syeQvP
zQhC%=PRZkD2IZyuS`mF8*fw?Rx|SCp^-dLud#XtMpKB%bkE5wCXyt?oz6U{~v{qbA
zl=W*`B|T4AAg$7xCM?9^ojAso9M5`IpYr^`vR^`~xEhSS&^qAtfHKE&oiQb*Kft^N
zyfUR5ba<K&9;aihClpqr{7kSIC(y2?3BIm}D>YVwCogt~u4{^ebB;&o0av|Yze5?%
zhNA)H1$!_s1<JWrhq`>`g%y~DcCDcsny)N(NO|S7SdOz3xfLnw7eU?jAt1+dyk4Xz
zJAp|LLh1z&6xUN|2DU$-Y!(S-yN(OF5K)ZIhBb;8#%CAClM05q1ydX;!=Dx};BFW#
zTLzI`N1fVrs7nH_rRN8{?9m{Ed}HLelEe^1q$&w<Vs%`~>bOlUbvK#i^}tQ_J?eJ@
zUYmMZL1?j%SEn@8BmAT&c~X+&nY3_L<0?(oM(5W?$=dk*+IaE^_)We?lGD}8Pu1?Y
ziRZ<yE-hfJ*+~iAu`lq`#XO!r>k<(~pC8bNqfb8WMk@-}Ha2(HcOE_4d%D9l)9m|X
z=u*>MxyCcW2$KGaGOPsC@wz@&%nsLkzTb0c)DJqtE<-B31ofBn7FI@0AtBE2wS&P)
zk6~5R)XXz|hUYh;8s>RiGD(M5A3|+F2adZI+dxO{M8WlkSSVA9T-Wuj&?uVXWBYpN
zsi6t@V10e_u~8Oydvka9!PX|PMpb5ZM&fH@OSpSu`cny#HGW}-_8h1`cA62tvPC`0
zEGW!p*!peX-HzJo9)7C%Sm0UW*dc4+0eZ4iyv9BUExU(P`Ui>-b_MubMDOH2cKF~9
z^o)YslFQM^6mnTviHG{9S~`&wB`d3P0fs7P<?P#R{yp+<%0)$iz3`3(qMy{;|IePt
eZklH*|Dn|0!Ru%B2IfGEhEhewe;0DvJJ3J%!vlf<

diff --git a/Stream/uav_proto_msg/protomsg/proto/__pycache__/odom_pb2.cpython-310.pyc b/Stream/uav_proto_msg/protomsg/proto/__pycache__/odom_pb2.cpython-310.pyc
deleted file mode 100644
index 0f1b1dc36a0e106a50a2203aca332c0c29c739de..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 2833
zcmd5-TW=dh6y6<=FInGW$GNphTGFe5#x$iDAe2^3Qt^<cBzdxgMr+U5-E=S3?z)Pt
zzLiJXm;Qm|u@b)m@gG3LMW70V0fGA3Ld!YhOC1o1N+99YetYK3xt}v*FP%0t_<j7*
zht)e7O?!xo;a>_Cm*5R{BAUiEuG?B!6WX@UwP}r$o0^~H5l%nQ8hIYYZ<&Bp%#Jv;
z9Mw@H4s@&>S9AjCM0rHfBS0JFq^^nNZfZ{}r$ux-!wsI~DXt5`(|2^9xf?BKfj`PG
zSsKss(fc~jDa>;n=rNH6EGT*$<Z?Z^2_-iPIK?%<X?_6kAfEx8<#T|C6z4F13Fvu|
z=h_{#cSKn_s<3PIn36cII42Y;pZD}3Zzn-B$BTed%IdW8^Iv&;S$TU!dBc3BIRX4v
zz11UN@zpw3?v%m>h28v1sv@uP6zrZ>{6&Rl`0Kzq%g^1{@9E{Sp{|_=evTvleb+81
zxi<j!ckNB!%<{JY_jOHm;{`fa#}2=ER!g9DmcOmCDu^*r*dFH>rZqMJbas1^k1lDV
zps4derFW-9c29??9@(Adqawb2pr(t1VvJwp@7yJOk@5`4%!-+T%=v*#VIVW7WadzY
z>zi8fatF`kwGNy?t*Rs4`yq|*6?g**a9aa${n`WVfiCqO9~Bfle!q0Xb3`fh+*WB>
z1UEykQQBDFWLG@LX}VU`3@y)PYwvAsv9-mu(q`xj(<wF0Tdd)Gp~sw{UQ*P6D0$p-
zSfjGI&}hlTl5IK_ZeEOHBm{tJejGl33Kv6C;o`+}Tib;U_b^9tO~!19!aZHoWlXqL
zj|(4DdY*(I!zEfBcrhSbX>bu#eX9|AKCI%72m-S%aKjfhTU0SMSY?BjQ}JxZ&Cslv
zfoL0;!Gg+4YUP+B&a|7x5P$xhLD!ep*YX)7hF`Wbr61N$lEJz)MfR=RQxROxpD<F8
zfWvyh<R^_pcOBG~h2&y%0S#7qZi`V#UDFXV-Y}~-A$%DNT5f3W$b2At%e1Yw;LK}a
zE`dxB@fsCB3nh^%PB~I*+BQ>`5;e;filRu#Y}EsUmTS3n7PcDTp=Jr22eOx0JBb0Q
zsMwB-S}qqmGUhg&itsx)Ws;&=2fHg1)kZ^E>0nc2)HW-^mbn{dz__THO*>?_OuH#o
zWqRLQrg|0WhA<+)ewR#H0TVl+a05tDW(On-s$N6*d34i_v^5-QtH*2)GuzS_=m#?8
ziXepQVe|p)^j$(7`#!l@v4x*QAEN_J=9_LEG-94ByjmbfhpHZgrXP0TFH@75A+~UN
zXBnCMx-SR4Z;ua8#X^51I!Vy!;ECw0A~<LQl)4A3NTjj6vUz3W-RoQH8`5CR@p#h~
zjH$CxJR~DQ3(~wLe5@U_+?po|tH^BK^Xj(fj(DY6^U;G$LWlb2#Ye|7(H~PE|L;NI
z`ML4a$QfmSI6E@F-0iZA;}+u;nOTJ)gR7-?68$AqG@dhLb`{5Mh!L&Xo*9;-4Ck(#
zhR@0xTU*)OynJ;<X1c@4DlIk5{xLK+K0G`@e@{+qh`I$W_V<S%XRZoY_$KuJI$mN`
z&tB`^4O=+=@!mpGZdF6SfDW>KOT9h+EO3WzAa$XtiBBwbn{W|NM(_z>A~L6^dQT!k
zqeSmMF+KLgNK&0Vql7%A5%L?Q<X6~#V#E~}clx_1(SJcQ(U(Szo)&7-7<r8E|G@%%
z1hLGLhx8Enh8`wg(|Ph0Jwm>uN68oT82OwYCz75dpV1=y)HpTBw4d2Os>7gae^Cee
z3}VQVM>I!%p?UH%Es&q+IQfxIkRRwI>Ch?iJv~6aqX+4?sX0T(CquA5iKj-iPi3ON
E1Ge8I+W-In

diff --git a/Stream/uav_proto_msg/protomsg/proto/__pycache__/odom_pb2.cpython-39.pyc b/Stream/uav_proto_msg/protomsg/proto/__pycache__/odom_pb2.cpython-39.pyc
deleted file mode 100644
index edadc0d9bbe0685ed8556a561a943bbf6ccccf9b..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 2195
zcma)6OK%%D5GGf<D|z*dZN+xtD5;w^^`RD;0y(8Y3qOJ$6sNXN3lzkzNGa>=Lm*dy
zCFGV~eds^1kNFe*8wGeRdJxb{(OU|%o!OOSxhaq?LGH|O_{}%ukY2Uw5cqaq|JZ#~
zBjguU7Qb7dd<|XwMhW4B(~!7CkW<RZ2I0m_B3rz`%^%3%KDY4i8sKGzg~)U*iYtmB
z+io$FOCXorrA%G|*>TI1i1J0{lDJi2oz}R+%e=y=FnIM1<+XFmt%JS6>(HpcZk^uX
z4SoZVm-z}`g|R7?IRWpyHSrIgH_scH?;2mvJpYgH2EPTE#)okGg+9Rsk(#`cNw@hX
zzjNMjS2DIO-dbRLm*30Se#Ezs?UX03oipvz_Ygnk_cO#*u_9JaoBZwuVK+gppRV!x
zV<J{FsRdH?VqMfPDeUCZ#Rjj7;_0m(6}QC-|Ac>fZd?}JP4KxRHs?OAxzFm{r<M7%
z(1+7wvi)F!b?|IbfUygQKmSn1z6)KMFuW$<PM^IcZ>gqd5*K8{yYJgCl1Q|9!jtx%
zP%qPD&^|gmX1hrg4dbBer9l$2&UYs#tn;wbK2D|ZqV~{x#Rf7-6Bem{JCo)@8=xXK
z@E`6BM!NJk^dg^oPb`S|2XrEfFuX?=31wul)L)Ye$nO#}G@fZY1P<{R+f>^k?j~GF
zOz0{FX`_m$7(<p|0AGg-)s?{@O(bZ=NGRp?1x`rO3q=>x0<Eq_k)MQ&d#UGpN{k(3
zzmsL8iEC%Vm*b(cVBdP=n1_3Zo#mQi<DZ?a(|hzYW3G?ZjcfXNy@2}G1E&J?BQ_<o
zyyld0UG+1B@<VF}0sU#%ZA+W67YSV)c-@ykU)yRFr{0-fRze0|7>osH$pCXvy1HN+
z_&TGgrv%4k#Ld9j*#s+NV&H&Vcd*@%4fyM&-Y^VV7SIY}F3z+a4<lblZKk7v(53ER
zz%t1SJzs?S#tTm|E_&WDOxY_h912~%u2!b0=F64@;N@byn?NE#9K`+HPze+hXQ_x4
zB%|wdk*RJn5OM_xn!O-|J;?Taw3yOpY8)>b#}jxg$z%_PX@(MCN?k$}%u+r8Ro+LN
z-3vs>m3HQFm9E4>rLe!4G0x1mtDH=AMwokkDC9E2H0H~h^x{4&vy)gPJ*689hoe$Y
zrn<IZ5i!@-N<+^JW87RUnVng^Ov(^%f|q4-fJ21gVNrhbwhis<?H}(Ref#|6@JKt1
zMF}5<g0bzpx}Zjo+$$k*r&$p95^XSF*ZWD*4@F-3{;(%8f-b}P&hC+{WI<--E33J~
z)qRq<;kv>8b*FT3FRu|@#3{yoT|0m?fahj<L*-Yv(77_``T-uug2C#AiI=(-!_#-G
z@Z0aO&i?W7H&6F<Ek8cykFxTWTL{-&tUWcG(>ISqKY)Xk*D2`Dry>^8gA;#_4_h}0
zJNcV&g0)|qD%#{hH<e8cP@f@9=j0=>F1$<GBa1f-Ucr3-pWw@-euAMyTeOn5Ldi0z
zF>UsrcKJ#(43pZl1kI)<HQ$-V59q%eYlZ<>*z<<c&-Ul<V<J+9`M0t3A8UTKTNUbH
NGir$RSIN4P{sBp~TvPx6

diff --git a/Stream/uav_proto_msg/protomsg/proto/__pycache__/timestamp_pb2.cpython-310.pyc b/Stream/uav_proto_msg/protomsg/proto/__pycache__/timestamp_pb2.cpython-310.pyc
deleted file mode 100644
index ea4569fc96e966c8eba5ff546677f57b8a94737c..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 2174
zcmbtUOK)366uvVaziw<_$02EwrcGN~Xeh+=!Aq(tP#>s^v?Z~G<jv?_&)B`meQD-8
zimmQoNxSJENS2lO75t1@fS@2SE5r)5P&hMw#0~1I*P72~&TGy&bI!!&vTecl-M8Pg
zaM7}!>do}0rJur*e<I6b7DIv6w79j6n6+dvykiN6Wf=L|N@^^t|C<=JazQ2}%`DOu
zd7yL6yrBy~7n(&w7lF2$GsxmI`=tY`S?1a83bWY^D>1||D}RMp<zcqz0KdvU_ATbH
z>SM%aSq*TGA;34d12}K!1<;!v=^ZnAi-1ea0$gUt0aq9XJi$%^t{ToMb{gn2M(0iA
z<*dP>$8$#dmf^f@(46-OO`UWe>}S~;;F9sUY`m|qcYt%ka9-=Aj*j?3N9XXa!S@Uf
zqgglc)maIo?;HL_gO}K4;9OxJJVuXDv&L)O*`8z7s}?WsLk0&3YF^x*XH}lxUT7nJ
zjMvzQ?4yVHAk$m~oh81gbr{;R);<~NZn!hZ0Jfk7CZDGDx(-VcfCm<+qdQNmCrF_^
zp$!Z?^Xm8Gkk`{V>eX*>xs%38ee>=Xy&i{QH}YF<>c<h?_@dFE8<#ffTdCk~Sns;K
zG!bzc(@=KmhMExd)DO8#-7ukvcWFK8slwI34L#;w%j$420I@_K{{9!Uj?2WXJNtpP
z4{09gMDZP!3m}x};u=yp9<^e|h0g0R6Oq$f?R9dB4Jj*|aoG}nlEwmdc?eCq9j*m}
zw*%hN`N7VSz0ivT%G}iTT*>>+B#m{GU*GA(aVOxzo!4zQbB2Gp|D}CYw{}$b%musH
z7?-8y*m=oYam3^zI)%<>YGpecxlt?^F>JHm$njcMk;o0X$|r7X2ZB~P*^5$lPt_zB
zz8m;`&S;$I45TVg@e)r|pb+ZtOjT@mgMeyx{iP#`tWP3Sg|;7Xb0*Q0av;jo^&>y(
z(6pC81Z|%OOsa7L{nM{>wm!;HW&McpJ(Y{Pp~uBQ_oX7nTcMRC#_vEkg~|r5#{)Hc
z-<6c{w%ZL-y6XmAeoK{K+N;v&8izp@Ik+B@C0|m$m-0wLQIs<wscgjw7qjLVQ|tcf
zt0OlG1Kmf;p16>z6hU7@$#v`!B;!+|_~T=l>jhj?wPkf;NrfAAz#<n%JZ?)>ow_O*
z6p;?jYJ<uYn@4PLS2N3#Hq_I!hLwHe=GOJi+xHrGH<e9k7_)A`DK&$zwyZL;2Z8Q#
zp$kC$s2wXzJ$1Apg&r_917#i$hnUfv0v%OWl!gk2Ln6wWQ>8}+Mdfb{uS(^$h%!%A
zZb9$BV=@{$aYY;2hYaQ1(p_}OXxg-Kd*kL-<Fk!>YJU1|CG~oyYt_Og@Ay!D@v?KZ
z@;Q&VaN%C==?AG52OGl?Z|Hu_k2Z=hzm<wP9f>pcG?GodA?97w4+*?k!^&RM?JEBO
zC}d8e(&$&nkSs>SUk>G-+cN~=e+kAfNCy8y2>u)7&+WY7YROotHO5P8j<vPL$Vyw1
z9Db(P>w6%7fu{xhJ6XiPktO^qIgWoJEBI$}0zV}u@lRwG|42^bAIKT<y?xF`6|A!=
Iyr^XV15Kuj!T<mO

diff --git a/Stream/uav_proto_msg/protomsg/proto/__pycache__/timestamp_pb2.cpython-39.pyc b/Stream/uav_proto_msg/protomsg/proto/__pycache__/timestamp_pb2.cpython-39.pyc
deleted file mode 100644
index c21c4866109cf5fe39d53778e95af3f2a186dc73..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 1864
zcmZ`(OK;mo5av=OB~g+oE4Cx2snZ4tP@#o|rsypQTG(-sgKXCpP=J@klDkr9^Mzf?
zums=Qs}KDL_A!5H554rHb1y{-6rCmYiVAbF!<pHc*>7fNmoyr-2H(NW@4jBuv_F-w
z`t5@715EJ^(ln}36l$)<v<pPFU5)CO8sDQOYW$|9FQ}>ht`1gKSc(kSM9QNKyycd2
zz5;y3t>%0cc-yTZjn(ez_nO;a=EVlJX^qw?VmfX7is;6z={lfqQinD{>%cTGHt8m9
zLF7kNr&~a`6|Q`2D+*RSx6Rz{F>S;87TpE<fZb3ZYHEPzHm&E}6Z#o_dfRkcti_y*
zN7Q+(vBupNbM6tKt=?@@hm|jO28caoE&4g#yVdVYZX0ZNSzFmqbgp%tO;sI_rzN01
z6mRh<Ud;oT!T@rkfjK(<pnX6RU32A-laF5aeG;)QO=!|RWa2VQ((c*GIX+0DXcPxN
z$$})ty`TGi+<VpQo@bnqs5>H8IOR!};7AO+Ik#ZCSr9RiktoHf_i8^K%gXDJL>?t?
zOxX4>m>Mqw`5$71Do3pP<wm=MB=1$4`mwY^01|)OLDFKepHRkCR?9rNr9>4~?ZGQR
zz}BWr_&i9ngo9KDSb_|hTHtIDGGFBek|V~EmxP#-jCe$_iL*#yKhJIA43lISvO@Ak
z1J}y+-%Wn8*KJ$tw$Hz|tNnRNT8>>7%uiw}+UN`PRjJjm&6vcAXzL)F-Yjs(ltxS<
zCd(=DF9Ec)#5m5#wQLE-0}=)kMsbp=41{c~=u%HEx0~#)0pDLBk#iiAFCVnopFy3f
zUYhDajyg^5z+YAeqcFrdL^FsfyOvfwiaf@pk&RO(D}I{doHIk>u~2TlCjwJ8AfqtD
zS0o%U+4xkf&(5cCt1^gJunyEKBS9R*!$MIH1ZLM6iv^@Fodt`9pQMbp6hLDTgiIE-
zojiLu#k}}a)iu)>iktwMCCS?=P(=k&iSm~q^5;rt4FVQYA??N1Le^vGdN>r7v|5?N
z7X_Zi95W?e$oQrT(_FY?PU0cBSxL;2fsoCW6NS6PGr6&%VKJ4BMUSd$*3qSX`1btZ
z?A>Yq<V@NaM+qH;4CBrdSrTJ_cg46W7Y^b<B6aM^^+x42g{cOIG`}>wt~3=qI~d+5
z43?LNZ{%s<wF@N6hs8n5vRcB_lN(1+MR;Il*O7m(9POn-I!CIcONDFW{=44W^Zt*$
zQ@Op`8UlOcqVsmn*f4;i^G}1zr$4cnaRR4tsvapn346uW@2l1<&je}Ez|Z)WLgLIL
z&DK_4mi(<$&kMX`MN!|Vw?~9PDrgVYi&3hW2GVE4`p2p*C0#d=g(^r<0~sHU@|yg&
Y-qdyQRkIk1`@?!^BU|54ntv<ie>&JGA^-pY

diff --git a/Stream/uav_proto_msg/protomsg/protoMsg.pyc b/Stream/uav_proto_msg/protomsg/protoMsg.pyc
deleted file mode 100644
index a4b8e5642604f4da9f750f596bfc2f3c5fe417c5..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 4301
zcmc&%Pj4GV6o0m3$Ikzj04;yS1(1;-76l0o1)Mf*Nr`P(8&&mX<$5R18n4&d9Y;-6
zB&1g2h~U}}035jT1vvBzATCJ!xgd^}_yFbi-gwrVrm4b#H1Uq#yqTSO^M1eg<~jGz
z;#}jmue)8E{N?an#S?#n#=|E=1EPM0+8Nu;Qa?xSobAp~KTqwv?G~s%OYK?PEmFTk
z?UL=zQGcG=^R~M{{Y7do+U^qdm#M!(?G^H}<js(mqdP>miLSR#u_?`R9%lIu@K@K%
z5Jyp{!&=<C7Ij7=6(z@*!Po^n@m(~E*m{*EmE#Xibtg-=aip1)GGmqblrn3Tg_IID
znb&7i${DLHrj&WBETxnMtDGaJS)PS`-7Fe*d;!lzJTY8OTHKDae-2k<=oZ|bB^Tyr
ztt|eT=;8kv*1H9|MHFqyoLP2V^HzqU9nyjXW_Sjw0_k};A=`w?m{IS&)c^H<_xnGp
zz4w0p@y~m||5EMke;54p)erZoy}N(C`0d}_ZdJ35{?JoHt)GWDid3wkU4Phf1q*lE
zR|C%-b^=vi;8Q$<W_#fGcC_mcx5FstXg?gfqZ{Y+bB`VhR2+ADO0!3LqgcMT)?4Pg
zQJ3%at(Ioj?Wm52z4a-`O%?f_fxoX>VN*w}orks`V>h#}UPQlUR&Rw@F`$_z^>C;}
zXhmaH=3Vt18XU_k=gFCM$SWOnoFML%@eWB7UxQTH2?JHp;c&0Aq2kYUII1{}rh73A
zg7MJr8ZXp7X|>$ixmpDVt4>fEcXlUk#DW!ZXd-~+Yok4V8fzc+C!Z`{MMK$zjQKBR
z3Yj@PXETTS)xyNX{BpCR%n6UcCh+J@;ZZ)}(Z>X5Ai$YN_#i*zNSCHO5`X$%V0kCQ
z4KusU-V}tk2YZ$Q14DtQF$C=dASQ-Izlf1tH3+-D-jh(jymj5Z+;D2^t<6T=-4!qo
zyz1~i4rA^x^BnexvxG)4bvRu(D`>1K=}k`xKId5&z`T#y5(cXTxQ+(uOH4Wp)Nv9)
zzd$asa9#j}TqF;v0Z9aMNwD>#JC|U4n=?XxL9jLXyGVLzifswD)O&0;(fto50#zqM
z(F!Y8Shd2LYKjaDgM_Xhj3o;&V4Jm16W|#;?qAu9LKp0p=#$RPskk>4_k{`k#(KA_
z2J*@*)-b)BvX_zfQu6+>+42<DVq4SM3uc{AxU;(++Wi%%;xlNbv2G&%Xc~1f`M=VL
z!@oLVjJ-x&hOS=}is1G^_~$uUCf5jG4v(WqiU$lk?j)kn3j-kn10Q-SNSI(oSutTj
zW1~@X4GTmxED-Vdc&^$#pA4WJ_j2Ua_HRQMb7G$&dNh_FVOknXmZc;>ZNQk71+$qX
ztgn#HbJTOnHZ>g5d~u2yUwHKtFdXJ`b0WD0z(cTM8rr_i&}=X#<yvFolG|*pU)bE*
zY+uq0Bj;s#7swqu&^R^PJyOnL^iL?*IMg3uK^5wlFA@XK(a>yRN*WqYx8ijan;FLD
zHNhsAVDllN@Id)|;5tRsX3H{jomMX_r>|2E3-Piyj;6&FYd0neb6-YbQ11-GSarjp
z7ato2&Me8wPX>q8BTTpoeFDVdW3J6jOgsz(vY4Ro>O&}8N}-TMND76ABSZk;>O%X7
z1>Ffo5+fWqEvv!BNpwZ&i{mIlt<3skBXDr(K%Er*xfq)sDFuBC1Bu_crZjbBImzL!
z6#T9$g|o|{KOQJ_ITye|+V2KR?}Q#Q5pqUn5G#kXhg3t(%PhUl%{gw~;pRM=Y0!)G
ze^%8Fwj(}G`~sRnHkUcQfM*WR5}tWHCG!}g*m%wPN=o!K<cx!Lt;3l_^ICSoqkaH6
zOf0Eh%&bX8<eX(S^T(*|1?lj`FZI9CCqateQqEgE#=nB>hDq*r-rylN$P7&p=J(#^
yLH;4v3&Y+(t;w7l<L$Nd?<OX^9WVtp6eo#~6bk1Jt={J!7E(ShXVU+tbN>SEKGYfj

diff --git a/Stream/uav_proto_msg/utils/__init__.pyc b/Stream/uav_proto_msg/utils/__init__.pyc
deleted file mode 100644
index da74d380a914387f25670bb1fc6e974ccc54184a..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 291
zcmZSn%**xU;DqF41}I<x(hfjetO6ubfQXSHhk+rNks*qaff2-KV#r})$Yo}TVg~Y=
z8G<!ffC@AJ1Azu3kX0f8Bm#=^OY-A$i__zQR8f90L`DcjCaowx7bNEgHlPG#U1>>X
zPO)AANV8XQeqMZTVM$4RL1|KaN@7VO)Tkh!I))N8T&jy<s$s?lfgGg)(u5$21!3Ct
j<Kr{)GE3s)^$IFWIDn!yx%nxjIjMFaUB#fV5MTrVY7t6Q

diff --git a/Stream/uav_proto_msg/utils/__pycache__/__init__.cpython-310.pyc b/Stream/uav_proto_msg/utils/__pycache__/__init__.cpython-310.pyc
deleted file mode 100644
index e72b28a718c085b7969319f6b215ecac92290a24..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 500
zcmZuuOHRWu5ViAZ(x_DnXFy2Z)E7Vq)UFWa*RCuiD^1)IVaLIC7Ci>y6kMrWR$PG<
z<D`WmVawy^=QnT0vg-E}1mpGbElV*%AMS8CJUCpyGS?7tlw*M;rWiZy0rsfZU|;w$
zph1HJz#$DA9Ey&NXw=}2h-H^{0Y`H*ia)^-jqrAOr<GMqnl*z>D+Ao%%Bb=$b^I$^
zX(e~UqaWb`Ihfrq7VP16&L*l{6>Bg|95oRIFYV1Jp(nL1gc(<^a_jJ7EvxD!%Tt@~
z`q1w2+J`_-|J9qleqUP$E+cdq!!|?nG;f>G9Y+sZdYPIcn?X$-0sD@0>=Ir0x+G6Z
za$;4vAyaOit*XdWtCE9_)k=^|q{c9*axRF`8EG5|V?|k5#>UlV8=t{#E%-V7C^9_=
KJ=DYP9O7?Td5$gs

diff --git a/Stream/uav_proto_msg/utils/__pycache__/basicMqtt.cpython-310.pyc b/Stream/uav_proto_msg/utils/__pycache__/basicMqtt.cpython-310.pyc
deleted file mode 100644
index 4bfc01f47f3d0cf0819b9e751a5f335eb8a2ac3c..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 844
zcmZWn&2H2%5FY2R*>o2wTJ^*W?12prfDob;J+%^I56BlQYkRluI>|P6ii-BuO1&W-
z0VFPc6Q03WPJIPVjFYWc!9@Nv^JP5qX*~64lmXg{hp+r60r=&EZHq8?gU7r?5Fm(#
zk_14Y3@9Nz6VmVmL?FUj5TPU&(M?EWK|a7Zdca$7#yxIZxCzX2bR<wBfChIkCxVFJ
zHl^VmL_i~~5W4L2{d9Vym8>iewu<-~UfnJp^AW+q4P1~lnG*%;;0O7F`fTtm_zr7e
z;lg7i2x2S(#H7QWj!8RzAVTCb5h3n&`9lGyAwHYFTVR9E8k`c0M=mz)N;WQKOjXJ<
z<|3;~Nk_UcmaW<u^PwBqdZjok_>!hgTd}z=7W9c}XNEUwCi{4QRtU!Hs*>EQ`Y~xk
zNYN)f70PU=|B1e}?^>D#mTD_YcZ9rBTpAo<WTc+cm{$c#N|v9BW?}A$8!*OEu3_vR
ze!tDn>r&>nuCDWAX_hEFKW^$u9@Uj?YMu9~Wi6!6O~donDsA#vVH7{Tw05$(Zv1n^
zc+4Tf0m(@6&zF(U`+uKv@;JM3?C0p!;T$u@ut}@EKV<B(Ep-2<EAK`d(OhcHSmR&6
zhk^Ho9{iU0?J!<X3I{>Qj1#xFD$eUk>DBUXp<Ltxm-JENwY#L>weHSV`L2;K@6uPj
QzSn*eOoH$XQgTTC077lm)Bpeg

diff --git a/Stream/uav_proto_msg/utils/__pycache__/protoJson_mqtt_pub_data_to_ros.cpython-310.pyc b/Stream/uav_proto_msg/utils/__pycache__/protoJson_mqtt_pub_data_to_ros.cpython-310.pyc
deleted file mode 100644
index 1c49beadb69b2d395a2c7e0657a678b62647dfda..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 1823
zcmaJ>OK;mo5auo)q9jUooQIOSD1zKrv=Y$t&_h}jNZ_IY;uf%h0(&87aV1e9xy*7E
zK!$R1&|A;B%E$htz4p{ge?U&1SxPb++m$f0+}WMS&U`bX*XvmD`-goPzw|BZFWfYL
zHf(+bsu-}uN=Rn0dL@jQJ<V-qlUnBFE^{~EUf!Y>v2vgJ#QMofXkx#&68nO(Htd|l
zg`Eq#PC`zs(EA(gTgPMM&EL-dw;<&f`eZaA%m#9RTp$mq1>^&@d8hVtL0H#VcJ%(Q
zQYaDS)ii=dit2bw8$KNPc7dJ)RlfsUk-4?9=HxY%hp^JM4HD;)yrasUdn=01PUs)@
zJ6p9@_65NQpKP^!(E1*<+P7=LX=mMC*_WUR-@&?f35h}*ss#z!*bANG(~xQ}EfQWR
zc34VYarrharcr6$Gf8=tL`9tQk9$g#>G*LW)Z>X*6iL|Et`X@kj<R$*Q_;`GM94f=
zsVE=`aQRfcdZUznFsaYe#yKR4b&jOSPm~0Ax>d%@OvH)q&MQ!_4YA%UURCjwpNf|t
z)ouxQm40-TEu*6wUEP_$(Nz@a<!-q+%hGDb<&_S&tA*N;vEtgTGS17;(e^m2SUZVT
zZ0gC{bsEslp7}ie1tY;a|7poPP{@zJjb<X}BPELE=moD{!^=l6q$v1vQ79?0(Kw5%
zD#}H|vr#3-qlHSdYGka{wjf6l#1o<04SI&<Qnvs_D1V5Uxd$wueX>si64>?HCjmWw
zXaa2jZ@5tl1MNqqbWx-`5eBfxID7|D^kxxfSkx$zEifztWPM=z^G3F=RaFm~r;Qp&
z4-ItDK-WAs=V~Src^Ac)r3O2|E%pYCg8E&)<xqz>Hjv@e=@WC~_D=l@bpNkYxxees
z_NGJkwuQT~K{23RgU(>nXwbn`gRWr~T*BWpmA7tfn`(0#8*_Non77?lFh6!JXdj=u
z3pM%rJBdRg>`Dy7B$PFZalM6P5AR_TwU_WQz{^xn?x7e<ArUwdM{h{wJ}fZ20AZMh
zPs@RIdJ0q_1_FAI0JMnV^nCD1-gfxvNCc(4kL&?5RF(r|#`6vn@)62z#lmNB`Xx|>
zF#;BdK?5Ly0^TK_hF#_fImZ#;s5Iw*Qk+i1>q&{qvu|#kHz*%$wU*lnkrhS(r^bIp
z>~Jc?G~+{~a<-TZ(ff8R`CF-MLv#kJCeB7$4d@Z-+J9De-VX$JCc(btL+1wMfb{9X
GlYaqYX3wDj

diff --git a/Stream/uav_proto_msg/utils/__pycache__/protoJson_mqtt_sub_data_from_ros.cpython-310.pyc b/Stream/uav_proto_msg/utils/__pycache__/protoJson_mqtt_sub_data_from_ros.cpython-310.pyc
deleted file mode 100644
index ac08e7997b0117cb93258897c132a7f885bb2d3a..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 3584
zcmaJ^L37*26~<x#5Tr;-qE$O?CXSLxlQL<or1i9^n<jSc$Z=}Z?ns_#nFC5;R}^HB
zpckMUa;TZk*w<WoXnV*(KI-4(yw{$5?yZx_<a-N{A|+YS?895^+vVHuy?x&*snseL
z9`~z%hu2mt>%Y{Qe>gff(9#bfge6#PwevS?vpbfs1%GY{{>*OM=sChg&qa?5wq-TF
zmzZU>LXz`O6`dPsX$&E)HWOCc7K~=K9W)osLo1>AvYh|QGuEy^H@^XW3A!gr&n@Ux
z=&Pb4Yhp>(MO7|~np_ce!FDTRS*$#FVY6yHYUsv8m1IfKOS{3YN_v4x(pG50kLg1?
zwOeTE&mksk-<nwaY~Kzzbf?f==w6|hgoW+0R@2vh+{vPBD5So)8%N!}EQtEMiR$5N
z(x;!*ygNuWzjt$6m*b@0&5ilJ2QBS);$kkpd2hREYaYfhz4LJE$Wk@9^8deX>?J+9
zktO}n#%-BC&XU2#ZI$%pt)!o+B;E+)PMQY2M96p}RpG`ki{f-+Kzsf&B?q2lS&$BQ
z0@2AjGX$;<M!Fhy;`oo9@NoeD>a=+eqROjmg^k}ljoQ_D`vn9kX&kgu2nIIcb;w^>
z2c$U@k_h%UHbYVYLA!Ni>rzjqX{Rf-huuYC+Vr$T-YQyCm-b{wME$N_-I6Nm#L-x8
zCtI1KPrljR!{Ls;vYBIlcMf~A+IDgu2sF7`GK<|xdIJE~Udv-OXMR8J8pv}&c<8m+
zj>CLfuqV2gFk+CZ*cE$?jo&*DskwQl5OcARLF^ioY0d>Wa)jC0$YI12_BXshkGEb@
z;$m~Fc&P@2=1-EeS<?Pf87E<sjr8hnJPH;QvbOL^{e&i8q{){zVY@j?-Z=pE8?PJ+
z{`_F8z_(qVO>QsaM`pb<z`ZyFcfp%=_>uY$72CHf>@_xSo(J&4+)c$WaSn{i-#bwT
zCvJw1)$172o|4&6^+Upb`cT$SWAVSgpaYbxLxx;s6Xyj=)Me|yopAO3#HEpa`zcdz
zWn9?L7_&0x&=vdzwBymVk=q@56PHFP)2SUft(WBBxJquV?<Q&;r>~p)@!e-fCGCZA
zB>R~z4Td{$l<u|5CIkV@v^zk`XWGf4p44s{OF5wJ^pdCY$TQh}ym9q57R`6edyzPi
z*Cy8Q!y*L(SZmy|tITH=R{f#Do$tr5pMm%EoE_OY#?6NIgP`B($so{`fa=dMCcPR2
zPlla1A2A15y+OWET~%~+)SD#MA@q`|T|JrYB|<IJ=gTDCqA_=8lu4ArG*jByNs?G|
z?A~}jw;L*vijJzHb3o-Hy#nD|j_okhn8R$Ok?j|){H|?mLzpc*M2k1j(gDPjq9W@w
zMM-}~Pi5#+da6L5($f-jUz7`~@<js_RRcxUL>+XsESGnEu_9ItO|2N3x}aC{YW+%<
zD#NW3nyDE7gpyIs07pGz2X>)z=)BM!=#J4{W8)S&*?5IcHYMaapE$@~Zvy)L);sX2
z${dy^KILwP-A>#~pnNpvk~Q%P9p5IUT&Htjs=3!f>GrxKl>}cG?@{p{>ry8SWsHGB
z8BLY(*e`~zYgU<dM%Sm>_<FOfeuEviFT_z_b`*{SR+7pvtY%+pHqva|Ug`9^!x+QU
z(x)z9lJ<rJkcm{3@K}gwpv~{zf26KMQ@<zi35h?D_>{zF5bYW<(B0nfQ9j#b+AQ7X
zxHIYvZ@@mK;#<W*!k>{1$Y0pwE2qMGOrw~(KnhfdW;D8qP993Z)^O)3f{a^}>E&TY
z5i&g@Rs>P-Z#ha8i1yGuE<H`B75(F1|FK>QEZO9m<H7=w^fkxzqv@%S@m+BelwgW7
z%|NGaL&G>hrsxW%?vVI`#9at&FuF5H&&0@_=m#)M>1fsMI;#U5TrJLn1UHcdNC*z{
z%w#<sZQ{uTfH1Km<T|#>4zcxVmBoERJ9HNUAN>i|bK7w83xJzulniF@OR_i-*!ql>
zjA0ulhU`7tC*Rl438$H`;61U*ET9D2VnA`SPVFM&hvvTdg5|t&Ks^uV)7mcyXLfIL
zTZ$4ytwD_4N86jf{8&*jZ~A#ODf3PEw3n!T+yk{MhCN(EJt0HjlNVB|$4xhn?`t%J
zmQw^vdzsRoHk(tpJb{y`)PI9v5nLakZ7|%1-aQAPxy#T=ramUDS5mWjhn)KviT6lc
zC9xPiv#SW-b7Hek5Zg~r`!?k@MgQ(JSJg+f=&wlpnuLMz4C+#JWmBJ%FuZl2G(%og
zr_^srm{Uc!syQcT1w{Q017wk|Lx8WqQ#oH5wyJ}zDrhdT*4xZjHyzc2t@?lj(Vh8v
Y*5ca#B<JH#>9%1mQ@-W1y4|?;Bh4v6^Z)<=

diff --git a/Stream/uav_proto_msg/utils/__pycache__/readConfig.cpython-310.pyc b/Stream/uav_proto_msg/utils/__pycache__/readConfig.cpython-310.pyc
deleted file mode 100644
index 09270638200b5e32c0c21b4ecb2fcb529426e2ba..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 1839
zcmZ`3O>-MHRMKi~dE+=q3C#zjHGzu{)Hgn67$!3b>GY5^ZNg<|7|nJiC)>zgM=K{d
zwJ*3=P8_%<NB#r9f}^gSdIHLKfx^=|-bvCyGkSX8dhh8yrPI>^g5@{Aj_)yqzIVjs
z<pHq<J9`g+KmsciqPs{C;XOsd8<7x8BIqH}OA-rzghNkK>5VW3-Q9dQO3%O+ZO0B?
zUKEHm*x7dgBnq)WAras~kdP+eUHXEy$XDREz)A&HE-)rb7kZTf3kvB}fmLN$Oy~Y;
zh29KE$Gq7Bn*-^Xccb9FR$%i5_WA@1nYbwyo}#cK7R3^rfmq%}jW_Jf)`Pu0{_y@T
zUr#%&WdHQtpbqOAw;t!ho{mhCcIvT;vMkpN*+kO@?QEa7Qr(WsUO4C2>nf2QvmLeN
zPVbSu#@YoIJxDWSX*bozRt}}?Mk+a$VdW%IYA@|3ap<WN69$fcC{2`fHp6Nmd~ko)
z-r7{j{(<55I^&xmI&PfhUb=N;j9uDPeZH9obzQXbzakEv!&#`w)da3`T>Q5|C%?_*
z$X^Y`E?-l)6iZB?r6#Kkh!1-mcJ?g*g9cdO5g8JL&&YtB<DoYoXWlu&XyBdE0eb8U
zbWVnJKn3a{{gx>Sa#nWyb3DRdV8GZ0`t1FoKkx_i80otMI`Eg!uw*KO(kPcZT6jz7
z(9>&RPr?4e+5`gxcBPSr(a}53SFQ{C`cu#>UDp(7tSJz5Re9TDeR^vv$+D!gUw<;J
zXEM$kCxPB+?bln0k{Uyrrz<;=hT0ja>#I+OtM!8@tDoo;tW3WvpXECBiKBMZ5s^uC
zzuvuK)tIt0?aGd&{iv<NN*1*wS7{`yAFDKz*4vlHPF)1y-pW=!`8<|g7n3cGJI9vO
zoX#wDSKD$14QGsQlr7DqYJ~xGAH?m<!%_mXqTuYe6(kh;GKRx?;36ymIF8geNWTdg
zzF2P_q;1(WX{X=Zkl7*hOLGG<lrV2br>dC`6K|(Ns%EC+X3r!lYib#Z@kHL~_ATQ)
z=_H2pTdqMI2uOe#uHi)-cnq+cUJcj08UaY?^V7x2SYC|vor#0km2|QkUbNjj5C$3i
zn80&;0t@mb8NmnH@U}M_IJ_ZbE9xo3TPi)_ndvLppw`Qb)^lKKspz%4E>Mxg5NHGI
zWnkwu7=sn3Rpwx-IsX8N%uT>NK3#Y<)?8;B-WB|H+-z|ha95+Aa(I>Vqh6#gB;Zq|
zG3VN4pl`ctyrcvF%A+(@dciSW#q_EJ?oBQM7nF8!xSu}T0l*N&loBW@`Iiy$l6mAG
zM#<mICx5XLdBMu$PsYd}tU`Wg0r`zhkzZMr{KBTm&#XqCvl;Ren<YQ8Ir;;euP*1_
zT^?=tzBoUvwc%g7cv<M4hM$)&*V1pp{nm4x<aafsa4FC{?!1KTqj4QRcCVLJ^N?#E
L`;g%(rZ4{krYHN;

diff --git a/Stream/uav_proto_msg/utils/mqttConfig.yml b/Stream/uav_proto_msg/utils/mqttConfig.yml
index f30adcf..a992b2f 100644
--- a/Stream/uav_proto_msg/utils/mqttConfig.yml
+++ b/Stream/uav_proto_msg/utils/mqttConfig.yml
@@ -18,4 +18,4 @@ MQTT_ROS:
   ROSClientNamePub: Drone650Pub
   ROSClientNameSub: Drone650Sub
   ROStopicName_Flight_Information: Flight_Information_reciver
-  ROStopicName_Fly_Formation: Fly_Formation_reciver
\ No newline at end of file
+  ROStopicName_Fly_Formation: Fly_Formation_reciver
diff --git a/Stream/uav_proto_msg/utils/protoJson_mqtt_pub_data_to_ros.py b/Stream/uav_proto_msg/utils/protoJson_mqtt_pub_data_to_ros.py
index 2eb6cc4..c344171 100644
--- a/Stream/uav_proto_msg/utils/protoJson_mqtt_pub_data_to_ros.py
+++ b/Stream/uav_proto_msg/utils/protoJson_mqtt_pub_data_to_ros.py
@@ -5,6 +5,7 @@ import proto.flight_information_pb2 as flight_information_pb2
 import proto.flyformatioln_pb2 as flyformatioln_pb2
 import google.protobuf.json_format as json_format
 
+
 class Proto_msg_to_ros:
     #Protobuf
     flight_information_msg = None
@@ -27,16 +28,22 @@ class Proto_msg_to_ros:
             proto_msg = cls.flight_information_msg.FromString(dataProto.payload)
             protoTOJson_msg = json_format.MessageToJson(proto_msg, indent=None, preserving_proto_field_name=True)
             print(protoTOJson_msg)
-            # cls.publisher_flight_information.publish(protoTOJson_msg)
+            # cls.publisher_Flight_Information.publish(protoTOJson_msg)
             # cls.rate.sleep()
         elif dataProto.topic == cls.Fly_Formation_topicToMqtt:
             proto_msg = cls.fly_formation_msg.FromString(dataProto.payload)
             protoTOJson_msg = json_format.MessageToJson(proto_msg, indent=None, preserving_proto_field_name=True)
-            cls.publisher_Formation.publish(protoTOJson_msg)
-            cls.rate.sleep()
+            # protoTOJson_msg = json_format.MessageToJson(proto_msg, indent=None, preserving_proto_field_name=True, use_integers_for_enums=True)
+            print(protoTOJson_msg)
+            # cls.publisher_Fly_Formation.publish(protoTOJson_msg)
+            # cls.rate.sleep()
         else:
             print("topic not found")
+            
 
+    @staticmethod
+    def on_message(client, userdata, msg):
+        Proto_msg_to_ros.ros_pub(msg)
 
 
 class Json_msg_to_ros:
@@ -51,10 +58,15 @@ class Json_msg_to_ros:
     @classmethod
     def ros_pub(cls, dataJson):
         if dataJson.topic == cls.Flight_Information_topicToMqtt:
-            cls.publisher_flight_information.publish(dataJson.payload.decode('utf-8'))
+            cls.publisher_Flight_Information.publish(dataJson.payload.decode('utf-8'))
             cls.rate.sleep()
         elif dataJson.topic == cls.Fly_Formation_topicToMqtt:
             cls.publisher_Fly_Formation.publish(dataJson.payload.decode('utf-8'))
             cls.rate.sleep()
         else:
-            print("topic not found")
\ No newline at end of file
+            print("topic not found")
+            
+
+    @staticmethod
+    def on_message(client, userdata, msg):
+        Json_msg_to_ros.ros_pub(msg)
\ No newline at end of file
diff --git a/Stream/uav_proto_msg/utils/protoJson_mqtt_pub_data_to_ros.pyc b/Stream/uav_proto_msg/utils/protoJson_mqtt_pub_data_to_ros.pyc
deleted file mode 100644
index 7cc220c02af3ba99955e7a56cd6a645534d1411a..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 2060
zcmcIkTWb?R6h6D#rb(@~ws^lFz8DZI2!anHqEIhjl}TR=!m`aw(p@(@ac3eF>XZ8J
z|MA5Ke~{o0(C?h>CeaqLh)L#TX3m*&KVS6y_~N%OpL#vo|3vt|kL5}bjbA`HQFpQr
zs2kMxA!QMDqxv{U**taU>tlnm1<IP#ZITX2H%LeHf#^Na%WjMG9O(tp^OLJZHq~i2
zVK)7N&!%6&_C;yEjfZX!<FB-C;%5lv11xtN#K1#%1>fKdD0G9u6HwR%T_6KDNUY)5
zBGqZLiXM|WtOnLYEcX>;FQ5#RC=2LyNaZW?5-aZC2lOr^FR|_+tST9}SpX}17s;z8
zWi8r^SU6xUi<BMXz=J~1=w1@tpUEHRJpQfj6QUaqE+3*EAxHG+F#_$hIjT+1aixVe
zh4&Y*9hJtJ@@-lS;*q4bpPF39MKUyQ8GLU?Y41v5{gu8Q7rM<g@bfjpv&f?t9TWp%
zTlU!-@BL}q_49PF<KwjG+j5xr)E4n*`<7n>YooNojxS-+AHy+o;8jwHn+SGYGB8{A
zDHupAe71#=%~m-!{vvKh<Lx|kJEn{e+CknY0`jU%yb+IGZp_G^0()cP)U4kp!RhC_
zwa0no^4e4#>`h))W|H09CR#G<BMA0#=Ue#KiBF_c<y0jWJuB&w)7EnikNda{aT4OL
zVK??^?rw@qC4r2_h&N`H`#rxt+7<I?e`c}Yj+0K|YOow!2v+c|c5A^(xY_2cd!D0M
z>KeyVhd3TuJ<d%WD|T6N@)cJ^u|j_tWTUF$lbI^cChVMu>`s&NOB=ANUY<BNG=9fw
zbq42Yut$zq;W=>-ZV99jHUfN^hLY7fo&OUS7#g_B0t+9p`5hMS$*|YRkO?LL5HR)i
z;0p%I;6I#s-IT%Klh>{N+5huv%yn4LHM_LwcqYfbf8)-fW6Ld|SWum3B4y@0s#Ord
z1Z{d&o2m;=Fo)4WT0wA8@f=7KaU*iJr?osv<4PM`hc3rP2pxM-x)pT4Q`K4AEAFks
z`m*w0d}Ac|=dQX0C0DTybk#JxHfKw6WXr4uC7+_L1&bIp*AL<l<DC+q<i?kQhSYE9
zq6AJknt`>0+^mb-_PD>!hH6;kuCE!2;Z0^ivFkHl;zUQOgcS2`g#q^he#{NA6fA|y
KK#|pO?fg%5guS@{

diff --git a/Stream/uav_proto_msg/utils/protoJson_mqtt_sub_data_from_ros.py b/Stream/uav_proto_msg/utils/protoJson_mqtt_sub_data_from_ros.py
index 1661f0d..5b143d0 100644
--- a/Stream/uav_proto_msg/utils/protoJson_mqtt_sub_data_from_ros.py
+++ b/Stream/uav_proto_msg/utils/protoJson_mqtt_sub_data_from_ros.py
@@ -18,7 +18,7 @@ class Proto_msg_from_ros:
         cls.flight_information_msg.gps.LON = GPS.longitude
         cls.flight_information_msg.gps.ALT = GPS.altitude
         # print ('lat:'+lat+'\n'+'lon:'+lon+'\n')
-        # print(flight_information_msg)
+        # print(cls.flight_information_msg)
 
     @classmethod
     def callBack_compass_hdg(cls, Compass):
@@ -33,7 +33,7 @@ class Proto_msg_from_ros:
     def callBack_fly_formation(cls, Formation):
         cls.fly_formation_msg.velocity = Formation.velocity
         # cls.fly_formation_msg.fly_formation = flyformatioln_pb2.FLY_FORMATION_v
-        cls.fly_formation_msg.fly_formation = 2
+        cls.fly_formation_msg.fly_formation = Formation.type
         flyFormationMsg = cls.fly_formation_msg.SerializeToString()
         cls.mqtt_Pub(message=flyFormationMsg, topics=cls.Fly_Formation_topicToMqtt, qos=cls.Fly_Formation_topicToMqtt_QOS)