Pass parameter from an Activity to a Class

I have an ACTIVITY

   public class MainActivity extends AppCompatActivity implements SensorEventListener, View.OnClickListener {

    private SensorManager mSensorManager;
    private Sensor mAccelerometer;
    private Sensor mBrujula;
    private Button iniciar_crono;
    private TextView x_a;

    private DibujarBrujula brujula;

    //
    private InetAddress IPAddress;
    public float azimut;
    private int puertoServ = 5000;
    private DatagramSocket clientSocket;


    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);

        brujula=new DibujarBrujula(this);
        setContentView(brujula);


        x_a = (TextView) findViewById(R.id.azimut);

        try {

            DatagramSocket clientSocket = new DatagramSocket();
            mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
            mAccelerometer = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
            mSensorManager.registerListener(this, mAccelerometer, SensorManager.SENSOR_DELAY_FASTEST);

            mBrujula = mSensorManager.getDefaultSensor(Sensor.TYPE_ORIENTATION);
            mSensorManager.registerListener(this, mBrujula, SensorManager.SENSOR_DELAY_FASTEST);
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    public void onAccuracyChanged(Sensor sensor, int accuracy) {

    }

    public void onSensorChanged(SensorEvent event) {
        if (event.sensor.getType() == mAccelerometer.getType()) {
            float x = event.values[0];
            float y = event.values[1];
            float z = event.values[2];
            enviarDatosAcelerometro(x, y, z, azimut);
        } else if (event.sensor.getType() == mBrujula.getType()) {
            this.azimut = event.values[0];
            x_a.setText("x = " + Float.toString(event.values[0]));//para probar que se ven los valores del los sensores
        }
    }

    public void enviarDatosAcelerometro(float x, float y, float z, float azimut2) {
        String info = "x=" + x + " y=" + y + " z=" + z + " grados=" + azimut2;
        new EnviarDatos(info).execute();
    }

    @Override
    public void onClick(View view) {

    }


    private class EnviarDatos extends AsyncTask<String, Void, Void> {
        private String info;

        public EnviarDatos(String info) {
            this.info = info;
        }

        protected Void doInBackground(String... arg0) {
            try {
                byte[] bytesInfo = info.getBytes();
                DatagramPacket sendPacket = new DatagramPacket(bytesInfo, bytesInfo.length, IPAddress, puertoServ);
                clientSocket.send(sendPacket);
            } catch (Exception e) {
                e.printStackTrace();
            }
            return null;
        }

        protected void onPreExecute() {
        }

        protected void onPostExecute(Void result) {
        }
    }

}

And I want to pass the azimuth parameter to the class DrawBruch, to be able to use the value of that sensor

public class DibujarBrujula extends View {

private float direction;
private Bitmap bitmapAguja, bitmapVelocidad;
private double gradosVel, gradosVelActual;
public Matrix matrixAguja, matrixBrujula;

public DibujarBrujula(Context context) {
    super(context);
}

public void onDraw(Canvas canvas) {
    super.onDraw(canvas);

    int height = this.getHeight();
    int width = this.getWidth();
    canvas.drawColor(Color.TRANSPARENT);
    if (bitmapAguja == null)
        bitmapAguja = BitmapFactory.decodeResource(getResources(), R.drawable.aguja);
    if (bitmapVelocidad == null) {
        bitmapVelocidad = BitmapFactory.decodeResource(getResources(), R.drawable.esfera);
        bitmapVelocidad = Bitmap.createScaledBitmap(bitmapVelocidad, width, width, false);
    }
    matrixAguja = new Matrix();
    matrixAguja.setTranslate(width / 2 - bitmapAguja.getWidth() / 2, height /2 - bitmapAguja.getHeight()+600 );
    matrixAguja.postRotate(-direction , width / 2, height / 2);
    matrixBrujula = new Matrix();
    matrixBrujula.postTranslate(width / 2 - bitmapVelocidad.getWidth() / 2, height / 2 - bitmapVelocidad.getWidth() / 2);
    double difGradosVel = gradosVel - gradosVelActual;
    if (difGradosVel != 0 && Math.abs(difGradosVel) > 1) {
        if (difGradosVel > 0)
            gradosVelActual++;
        else
            gradosVelActual--;
        matrixBrujula.postRotate((float) (-gradosVelActual ), width / 2, height / 2);
    } else {
        matrixBrujula.postRotate((float) (-gradosVel ), width / 2, height / 2);
    }

    canvas.drawBitmap(bitmapAguja, matrixAguja, null);
    canvas.drawBitmap(bitmapVelocidad, matrixBrujula, null);
}

public void setDirection(float direction) {
    this.direction = direction;
    this.invalidate();
}

public void setValorFinalVel(double vel) {
    double maxValorVel = 6.0;
    gradosVel = vel * 360.0 / maxValorVel;
}

}

That is, I want the 'azimuth' value of the MainActivity to be "passed" to the 'direction' value of the DrawBruch class, to work with it

I tried to create a get in the MainActivity:

        public float getAzimut(){
        return azimut;
    }

and use it in the constructor:

    public DibujarBrujula(Context context, float direction) {
    super(context);
    this.direction=MainActivity.getAzimut();
}

But I get the following text: non-static method can not be referenced from a static context

I tried to create a get in the MainActivity:

        public float getAzimut(){
        return azimut;
    }

and use it in the constructor:

    public DibujarBrujula(Context context, float direction) {
    super(context);
    this.direction=MainActivity.getAzimut();
}

But I get the following text: non-static method can not be referenced from a static context