https://github.com/jopohl/urh universal radio hacker https://redhawksdr.org/ open source SDR multinode IDE tuned for redhat systems, has code generation https://www.rtl-sdr.com/ -- I finally got my nyansat gymbal running! I'm using a raspberry pi instead of an esp32 for easier turnaround. The parts of the framework I ported are at https://github.com/xloem/antenny in the nyansat/station subfolder. (import antenny; api = antenny.esp32_antenna_api_factory()). motor and imu should be connected to pi i2c pins, and it'll look for adafruit's circuitpython libraries. I'm pretty sure you could use ICA and adaptive subsampling to make a cheap realtime image of your local radio environment with one of these. Could also a dish antenna on the gymbal to not need ICA. This would help enough in reusably describing shielded rooms that I'm still trying to move forward on it, after all these years. It doesn't look to me like the nyansat is actually _using_ its imu for anything. I asked in the chat where the imu is used to calibrate the motors and no reply yet. They might be waiting for someone to flush their stubs out. I would have organised the code differently to provide for sub-duty-cycle-precision expansion options and more backend platforms.