Code and stuff: https://github.com/RichardAntalik/mav...

There are simpler RSSI based versions, that do not require bidirectional communication too. I haven't seen mavlink based anywhere, so sharing this as pretty decent starting point.

This could be probably done with ESP chip too, I don't think geometry algos would require too many CPU cycles, but this was really weekend project and I used only stuff I had laying around. That said I do have ESP chips laying around, so it's more just lazyness. Still it's much easier to debug python script and mavlink C library for embedded devices is meh especially if you want to use it over TCP. At least that's what I found after quick research. Still I would prefer to use cable connection with radio modem directly but guess what, I am using latest firmware and this is either not implemented or I don't know how to set this up. Again, it's weekend project, gotta go fast.