Antenna Tracker

The Antenna Tracker maintains a specialty high-fidelity connection with the plane. A GPS coordinate is relayed to the GCS from a different wireless connection, which is then relayed to the antenna tracker. The antenna tracker has its own GPS onboard, and computes the azimuth and elevation angles needed to point from antenna tracker to the plane using some coordinate transformations and trigonometry. The elevation angle is then written to the elevation servo, while the azimuth angle is fed into a PID controller to align the antenna tracker with the setpoint using a magnetometer.