Send Navigation Controls over UART

I am part of a student team working on a senior capstone project. We are using an APM2.6 for the autopilot of our rover. in order to integrate the APM into our system we need it to send the navigation commands through one of the UART connections. If y’all could give some advice on how to drive our vehicle with the UART that would be incredibly helpful.

fyi this is not a small rc car but a full sized all-terrain vehicle.

You will be better off posting your requirements on a discussion forum here