Given I have really run myself out of time here, I have enlisted the help of one of my cohorts Machine Koder from the Machinekit world to help get the tripod kinematics configuration files sorted.  

Sorting a brand new config out in two days, while I'm still working on the hardware, probably wouldn't have happened otherwise...

He has put to code what I have used on many an occasion as it makes my part so much easier.

He is also a regular contributor to the Machinekit github project and I thank him for his support.

Machinekit configuration files for this here soon.  It's like 3am in Austria right now and even machine coders need downtime.