The WumpusRover was a project started specifically around
UAV::Pilot. The library was always intended to be used on more than just the Parrot AR.Drone. With this addition, it is not only supporting a custom rover project, but also running much of the code on the rover itself.
The protocol is similar to ArduPilot protocol, taken from here:
No tests were done against an existing ArduPilot implementation, so things may not be 100% compatible. It should be close, however. It is a goal to eventually be compatible; this will happen Soon(tm).