MAVProxy

MAVProxy is a fully-functioning GCS for UAV’s, designed as a minimalist, portable and extendable GCS for any autonomous system supporting the MAVLink protocol (such as one using ArduPilot). MAVProxy is a powerful command-line based “developer” ground station software.

For more information on MAVProxy: https://ardupilot.org/mavproxy/

To connect to a running simulation:

mavproxy.py --master=tcp:<dronesim_ip>:<dronesim_port> --map --console

You can easily forward the stream to more applications via:

mavproxy.py --master=tcp:<dronesim_ip>:<dronesim_port> --out=udp:127.0.0.1:14550