MAVLink Basic Implimentation via serial port

I am trying to create a ground station for my self made drone, i want to send some waypoint parameters to it, how can i send it via mavlink?

i need to understand basic mavlink message packing and receiving. i generated the header files, but dont know how to use them

Please guide me to some resourced/ sample code. i tried understanding using mission planner code, but its too vast, 

I am using visual studio 2015, and serialPort.writeline for sending message. will it work? or do i need to switch to some other serial port library?

Thanks in advance  :)

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