for the below code, add the followinfg things

1) Add support for multiple followers and implement a formation flying algorithm.
2) Introduce communication protocols between the drones and a ground station to allow for remote control and monitoring.
3) Implement a swarm intelligence algorithm to enable the drones to work together and accomplish complex tasks such as search and rescue or mapping.
4) Introduce advanced control algorithms such as model predictive control or reinforcement learning to enable more precise and efficient control of the drones.


give me the full complex code

the code is this
import time
import numpy as np
from pymavlink import mavutil

class Drone:
    def init(self, sysid):
        self.sysid = sysid
        self.current_pos = np.zeros(3)
        
class DroneController:
    def init(self, master_sysid, follower_sysid):
        self.master = Drone(master_sysid)
        self.follower = Drone(follower_sysid)
        self.connection = mavutil.mavlink_connection('/dev/ttyUSB0')
        self.connection.wait_heartbeat()
        self.current_ned = np.zeros(3)
        self.waypoints = []

    def set_mode(self, drone, mode):
        self.connection.mav.set_mode_send(drone.sysid, mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED, mode)
        time.sleep(1)

    def arm_and_takeoff(self, drone, altitude):
        self.connection.mav.command_long_send(
            drone.sysid, mavutil.mavlink.MAV_COMP_ID_SYSTEM_CONTROL,
            mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, 0, 1, 0, 0, 0, 0, 0, 0)
        time.sleep(1)
        self.connection.mav.command_long_send(
            drone.sysid, mavutil.mavlink.MAV_COMP_ID_SYSTEM_CONTROL,
            mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 0, 0, 0, 0, 0, altitude)
        time.sleep(5)

    def add_waypoint(self, waypoint):
        self.waypoints.append(waypoint)

    def send_position_target(self, drone, ned_pos):
        self.connection.mav.set_position_target_local_ned_send(
            0, drone.sysid, 0, mavutil.mavlink.MAV_FRAME_LOCAL_NED,
            mavutil.mavlink.POS_TARGET_TYPE_LOCATION | mavutil.mavlink.POS_TARGET_TYPE_VELOCITY,
            ned_pos[0], ned_pos[1], ned_pos[2], 0, 0, 0, 0, 0, 0)
        time.sleep(0.1)

    def goto_next_waypoint(self):
        if len(self.waypoints) == 0:
            return False

        next_global_waypoint = self.waypoints.pop(0)
        self.send_position_target(self.master, self.current_ned + next_global_waypoint)

        return True

    def follow_master(self, distance):
        while True:
            self.update_local_positions()
            leader_pos = np.array(self.master.current_pos)
            leader_yaw = self.connection.messages["ATTITUDE"].yaw
            follower_pos = self.calculate_follower_position(leader_pos, leader_yaw, distance)
            self.follower.current_pos = follower_pos
            self.send_position_target(self.follower, self.current_ned + follower_pos)
            time.sleep(0.1)

    def update_local_positions(self):
        local_position = self.connection.messages.get("LOCAL_POSITION_NED", None)
        if local_position is not None:
            self.master.current_pos = np.array([local_position.x, local_position.y, local_position.z])

    def calculate_follower_position(self, leader_pos, leader_yaw, distance):
        dx = -distance * np.sin(leader_yaw)
        dy = distance * np.cos(leader_yaw)
        follower_pos = np.array([leader_pos[0] + dx, leader_pos[1] + dy, leader_pos[2]])
        return follower_pos

# Usage

controller = DroneController(2, 3)

# Arm and takeoff both drones
controller.set_mode(controller.master, 4)  # Set mode to Guided
controller.set_mode(controller.follower, 4)
controller.arm_and_takeoff(controller.master, 10)
controller.arm_and_takeoff(controller.follower, 10)

# Add waypoints
controller.add_waypoint(np.array([10.0, 10.0, -10.0]))
controller.add_waypoint(np.array([20.0, 20.0, -20.0]))

# Send master drone to waypoints
while controller.goto_next_waypoint():
    time.sleep(1)

# Follower drone follows the master drone at 5 meters behind
controller.follow_master(5)

# After the operation has completed, set mode to RTL and disarm
controller.set_mode(controller.master, 6)  # Set mode to RTL
controller.set_mode(controller.follower, 6)
controller.arm_and_takeoff(controller.master, 0)
controller.arm_and_takeoff(controller.follower, 0)

controller.close()