[1]https://github.com/jopohl/urh universal radio hacker
   [2]https://redhawksdr.org/ open source SDR multinode IDE tuned for
   redhat systems, has code generation
   [3]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 [4]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.

References

   1. https://github.com/jopohl/urh
   2. https://redhawksdr.org/
   3. https://www.rtl-sdr.com/
   4. https://github.com/xloem/antenny