Ardupilot Telemetry

Hi everyone, i want to get telemetry from ardupilot and show these data in my gcs like arduino and xbee combination and getting it serial port. How can i get it ?(i dont want to use mission planer)

What GCS are you wanting to use?
Or how are you wanting to display the telemetry?
How are you wanting to get the telemetry from ArduPilot?