Many free-space optical (FSO) communications systems use pointing, acquisition, and tracking (PAT) systems to align the transmit and receive apertures for efficiently coupling received light to a detector. Conventional PAT systems divert energy from the communications receiver to a photodiode array for measuring tilt in the focal plane. Unfortunately, diverting energy from communications to PAT reduces SNR and sensitivity for communications. The PAT terminal disclosed here determines tilt angle without diverting energy from the communications receiver. It tracks the power in different spatial modes and uses that power distribution to determine tilt information for PAT. It does this with a passive mode converter, such as a photonic lantern, that maps power in each spatial mode at the receive aperture to a different single-mode output. Photodetectors at the single-mode outputs convert the received light into electrical signals that are demodulated for communications and whose amplitudes are used to derive the tilt information.