drone customizing tutor -- 5

Currently, I am taking a drone development class, using Python and C++, with qgroundcontrol, gazebo and mission planner. I have built two drones during the course with a 3d camera, Lorawan and other sensors, for openCV and deeplearning. My mission is to launch a mother plane with slave drones for platooning. In addition to this, I am taking a couple of Udemy courses on the same subject, especially in ROS. They are several hours long sessions. Guide me through these and help me to complete my portfolio. My budget: usd50 Project term: 7 days ROS for beginners, Drone Programming Primer for Software Development, ROS Robot Operating System. I welcome your recommendations. code example; int main(int argc, char** argv) { Mavsdk mavsdk; ConnectionResult connection_result; bool discovered_system = false; connection_result = mavsdk.add_any_connection(argv[1]); if(connection_result != ConnectionResult::Success){ return 1; } mavsdk.subscribe_on_new_system([&mavsdk,&discovered_system](){ const auto system = [login to view URL]().at(0); if(system->is_connected()) { discovered_system = true; } }); std::this_thread::sleep_for(std::chrono::seconds(2)); if(!discovered_system){ return 1;} const auto system = [login to view URL]().at(0); system->register_component_discovered_callback( [](ComponentType component_type)->void{std::cout << unsigned(component_type) ;} ); //Register a callback components(camera,gimbal) etc are found }); while(telemetry->health_all_ok()!=true){ std::cout << "Vehicle is getting ready to arm"<< std::endl; std::this_thread::sleep_for(std::chrono::seconds(1)); } //Check if vehicle is ready to arm mission_item.latitude_deg = 38.1618342; // range: -90 to +90 mission_item.longitude_deg = -122.4550834; // range: -180 to +180 mission_item.relative_altitude_m = 10.0f; // takeoff altitude mission_item.speed_m_s = 5.0f; mission_item.is_fly_through = false; // stop on the waypoint mission_items.push_back(mission_item); for(int i=160; i <=300; i=i+10){ custem_t current_x = 38.1618751,current_y = -122.4551398, distance = 0.00006; custem_t radian = degreetoradian(i); //(std::stoi(argv[1])); custem_t target_x = current_x + distance * cos(radian); custem_t target_y = current_y + distance * sin(radian); std::cout << "target X :" << target_x << ",target Y : " << target_y << std::endl; //@@ Fly Mission mission_item.latitude_deg = target_x; // range: -90 to +90 mission_item.longitude_deg = target_y; // range: -180 to +180 mission_item.relative_altitude_m = 10.0f; // takeoff altitude mission_item.speed_m_s = 10.0f; mission_item.is_fly_through = false; // stop on the waypoint mission_items.push_back(mission_item); } mission_item.latitude_deg = 38.1621677; // range: -90 to +90 mission_item.longitude_deg = -122.4556070; // range: -180 to +180 mission_item.relative_altitude_m = 10.0f; // takeoff altitude mission_item.speed_m_s = 5.0f; mission_item.is_fly_through = false; // stop on the waypoint mission_items.push_back(mission_item); mission_item.latitude_deg = 38.1619124; // range: -90 to +90 mission_item.longitude_deg = -122.4552071; // range: -180 to +180 mission_item.relative_altitude_m = 10.0f; // takeoff altitude mission_item.speed_m_s = 5.0f; mission_item.is_fly_through = false; // stop on the waypoint mission_items.push_back(mission_item); //@@ Fly Mission mission_item.latitude_deg = target_x; // range: -90 to +90 mission_item.longitude_deg = target_y; // range: -180 to +180 mission_item.relative_altitude_m = 10.0f; // takeoff altitude mission_item.speed_m_s = 10.0f; mission_item.is_fly_through = false; // stop on the waypoint mission_items.push_back(mission_item); }