Hello to all,
I used a part of the Ardupilot legacy software plus code from Melih Karakelle and from Dennis Frie and "build" around an Open DIY Antenna Tracker - OpenDiyAT.
It needs only sentences from a gps receiver unit (gprmc and gpgga) and it sends the telemetry to the ground using the audio link of our video transmitter.
It is now in a very reliable form, and it has still a good development base.
With some work, we can increase the telemetry data to send to the ground base.
I publish the code here: http://code.google.com/p/opendiyantracker/
The project is open and I hope the RC community can embrace this and help to develop the code (what so far didn't happen, which made me sad with the lack of interest).