QGroundControl

QGroundControl is an alternative to APM. You can download the last build from here

Open QGroundControl

IMG QGROUND 1

Go to Comm Links settings and add a new link

IMG QGROUND 2

Give a name to the link, select the UDP type and set the Listening Port to 6000

IMG QGROUND 3

After connecting you should see something like this:

IMG QGROUND 4