Expresslrs Mavlink with antenna tracker

So I want to build an antenna tracker with the expresslrs mavlink protocol. My current idea is to use the wifi on my tx16s to stream data over to my GCS and have my tx16s on 2.4ghz connected to a 2.4gha to 900mhz expresslrs repeater. However with this setup I would need to connect 2 devices to mission planner. The tracker and the mavlink telemetry. This would also mean that the mavlink telemetry would reach the gcs first then the gcs will tell the tracker where to go. Is there a better way to do this? If not how can I acheive a setup like this?. Thanks