Control arducopter by uart

Hello, sorry if this post already exists.
Is it possible to control(send commands) to ardupilot via UART. If yes please provide me information of how can be done and I need information about messages that can be send. Thank you.

Nico all our commands are send over UART. We are using MAVLink protocol to send commands to copter. So I would suggest you to look how MAVLink protocol works.

There are great mavproxy, mission planner, apm planner and other good gcs systems available already that you can take a look.

And take a look at too. There are a lot of guides to help you:

and MAVLink home: