本工程基于开源飞控程序Ardupilot，以及Mavros，实现多个飞行器的编队控制。
Package:
px4ros: 负责数据通信，从串口/网口读写数据，解码接收到的数据
spiri_go: 主程序，程序完整流程和循环控制
px4ros/scripts/seral_ros.py
px4rod/scripts/leader_control_decode.py
spiri_go/src/spiri_go.cpp
spiri_go/src/leader.cpp
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Formation control of multiple drone based on consensus.
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- C++ 74.3%
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