There are several variants of the Antenna Tracker so I decided to document my AT build here which follows the ArduPilot Antenna Tracker design. This version was originally designed and used by Tridge and then updated, improved, and, released by Randy. The original AT thread is on DIY Drones here.
I am currently using the v0.8.0 of the APM Antenna Tracker which included a new filter to smooth input to the controllers. It worked great for both APM Copter v3.3.3 and APM Plane v3.2.3. My ALT_SOURCE parameter was set to use GPS.
My tracker uses an EZTracker with extra side car from ReadyMadeRC, a long range RDF900 telemetry unit and an ImmersionRC DUO 5.8GHz receiver with a directional and omni antenna. The extra side car acts as a counter-balance and a spare battery holder. It also holds the GPS module.
I use the AT for my 5.8GHz video downlink. Since the 900MHz telemetry link uses an RDF900 at the ground end, the air units in the vehicles can be the normal less expensive 3DR design without any range issues.
My param file is posted below for those that are interested. I'll detail my build in more posts below.
Below is my initial test of the APM Antenna Tracker with v.0.7.7 firmware. The new ALT_SOURCE parameter was set to 1 for GPS instead of BARO to determine the Altitude setting of the pitch servo. The Antenna Tracker worked perfectly!
AntennaTracker_v080.param (4.1 KB)