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I know you can auto-guide the SA2 with the ST4 cable (via the guide camera). There is a fellow named Kamil Pekala on YouTube who has a stack of videos dedicated to the SA2.
He set up an ASI120mm (mini) guide cam - ST4 port to the SA2, USB cable to his laptop running KStars / PHD2. (I know that's not StellarMate - just pointing out that it can be done.)
Can you connect the two cameras via USB to the RasPi, then tell StellarMate that guiding is carried out via EKos?
I've looked into the IndiLib documentation and it says that the SA2 can be guided via the USB -> EQMOD cable. I know nothing about this, but it might be an alternative for you.
There's also 'AstroBerry' to look into. From what I have read, it contains KStars, PHD2 and EKos (amongst a lot of other software).
Cheers,
V
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