I've done LTM telemetry.
Used SITL http://ardupilot.org/dev/docs/sitl-simulator-software-in-the-loop.html to emulator quadcopter.
I managed vehicle using APL Planner 2.0
And also I written simple converter that just listen MavLink v1 messages from simulator converts its to LTM and send it to serial port. https://github.com/kiryam/mavlink2LTM
Need to improve follow algorithm (now it works like I have only 360 maximum movement limit.)
Also I thinking about to do interpolation and movement prediction algorithm.
I have some problems with parallel smooth moving pan and tilt. Because I have only one core I can't do this job in parallel. I can do it only in concurrency mode, but since I have very small timeouts while stepper moves (sometimes < 1ms) I can't efficient switch to another task (because context switch will require significant amount of ticks ). It makes CPU usage about 100% at fast movings. If I will have separate cores for movement and trajectory processing I can do pan and tilt in parallel.
Very basic version almost done. I need to do settings tuning from CLI and It ready to testflight.
Because in Russia right now not good wheather to flight I think I will do more improvements in this project.