There's a terminal-based interface made with ncurses that can be used to visualize telemetry sent to the PC terminal from the quadcopter. The PC terminal program is modified to try and open a socket to connect to the service when you run make upload-run or make run. All telemetry received is then also sent there to be displayed.
To use the interface, just run make in the folder Interface off the root directory. Then execute it with ./interface.
If you don't like the color of the interface, you can change the foreground and background by modifying line 446 in interface.c. You can also CTRL-F for init_pair to find this line:
// Initialize Foreground/Background color pair
init_pair(1, COLOR_YELLOW, COLOR_BLACK);
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The interface is a server. You can stop the PC terminal program and reset the drone as much as you want. It will simply remove old sockets once you break the connection, and stream data again when you reconnect. You don't (and shouldn't) have to restart it.
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The interface can survive a loss of connection without restart. However, if you have the server running when the PC terminal runs (if it isn't running, it isn't used), and you kill the server/interface, then the PC terminal program will crash.