The software has now evolved to alpha stage.
It is now a reliable Antenna Tracker, manage to increase the Tracker servo refresh frequency and it is now well tested.
Still, it has margin to progress, sometimes (rarely) the arduino do a reboot if the audio channel become very disrupted, don't know yet how to prevent this reboot. Bear in mind that this happen if the audio link is continuously disrupted for a long time.
Here it is the proof of the concept:
(Grips, this one was thought to answer to your remarks)
The major problem detected so far is the use the audio channel to carry the telemetry, this link is disrupted well before the video channel does, thus video telemetry is the next step for me.