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 -std=c99 -I ../../include/common -o mavlink_udp mavlink_udp.c

The MAVLink header directory must be added to the include path, as shown above. 
Be sure to use version 1.0 of the MAVLink headers for this example, otherwise
the ground control software may be unable to connect.

To run, type:

./mavlink_udp


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