Paramater updates and waypoint/mission commands are now included in my GCS. "Control" commands are not available yet because I don't know what's ready to go in the APM MAVlink code yet....
The MAVlink trunk is here: https://ardupilot-mega.googlecode.com/svn/Sketchbook/trunk
Download my GCS here: http://code.google.com/p/happykillmore-gcs/downloads/list
It took me a while (and some help from Doug Weibel...Thanks Doug!) to figure out the 2-way communication. The hardest part about this implementation is it's asyncronous. Which means you've got to be ready to handle the messages even though they're sprinkled in with telemetry data. I still need to add the ability to change the output Hz on the MAVlink messages.... and all the control messages (like RTL and Loiter Here....etc). I'd also like to be able to download logs files using MAVlink.... but I'm not sure if that's possible.
Works via X-Bee. Built in parameter limits and descriptions. Drag and drop waypoints built into Google Earth plugin for real time mission planning. Automatic retries and timeouts for bad connections. Progress bar and status messages. Full APM mission command set.