airtsp-config: command not found

Have You tried accessing the binary with the full path?

Maybe Your $PATH variable doesn't contain the default paths? echo $PATH should give something like:

[root@server ~]# echo $PATH
/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin

If it's empty, You may set the PATH variable with this command

export PATH="/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin"

On CentOS possible default full paths are:

/usr/bin/airtsp-config - from package: airtsp-devel

You may install the required package with command yum install {package}
Error in other languages:
airtsp-config: bevel nie gevind nie
airtsp-config: comandă negăsită
airtsp-config: comando não encontrado
airtsp-config: commande introuvable
airtsp-config: command not found
airtsp-config: käsku ei ole
airtsp-config: không tìm thấy lệnh
airtsp-config: komanda nerasta
airtsp-config: Kommando nicht gefunden.
airtsp-config: kommandot finns inte
airtsp-config: komut yok
airtsp-config: nie znaleziono polecenia
airtsp-config: níor aimsíodh an t-ordú
airtsp-config: no se encontró la orden
airtsp-config: no s'ha trobat l'ordre
airtsp-config: opdracht niet gevonden
airtsp-config: parancs nem található
airtsp-config: perintah tidak ditemukan
airtsp-config: príkaz nenájdený
airtsp-config: příkaz nenalezen
airtsp-config: команда не найдена
airtsp-config: командата не е открита
airtsp-config: 命令找不到
airtsp-config: コマンドが見つかりません