Communication protocol of uart with naze32 rev6

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<span lang="en">We want to develop a computer program to control a quadcopter 
and for that we need to know how to control the naze from the UART port. (How it communicates) 
If you can help us with that we would appreciate it a lot. 

Sorry for my english, it's my second languaje.</span>
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Check out the Multiwii serial protocol.

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