A more detailed version of this quickstart is available at:

http://qgroundcontrol.org/dev/mavlink_linux_integration_tutorial

MAVLINK UDP QUICKSTART INSTRUCTIONS
===================================

MAVLink UDP Example for *nix system (Linux, MacOS, BSD, etc.)

To compile with GCC, just enter:

gcc -I ../../include/common -o mavlink_udp mavlink_udp.c

To run, type:

./mavlink_udp


If you run QGroundControl on the same machine, a MAV should pop up.