Sorry for the late reply. Actually, I shared several things which I can share while I developed the system. However I cannot share all projects here because the technology was transferred.
This system use pixhawk 2.1. and, for the efficient communication, it does not communicate b/w drone and GCS except emergency environment. I used offboard.
On the other hand, I heard that @Jaeyoung-Lim who is my friend and work at Auterion start to develop the swarming flight system. As much as possible, I will help him.