Antenna Tracker

Maybe I missed it but I could not find a discussion of Antenna Tracker software or hardware. Who is doing the software?

I will be building a tracker using Pixhawk late winter or early spring and would like to get some feedback and lessons learned before I decide on the exact hardware.

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Did you find the documents here? planner.ardupilot.com/?s=antenna … mit=Search

I do not know who is doing the software.