It would be possible to implement a parallel communication between VM and RPI, to run in VM the application Mission planner and thus have the mavlink data in a more intuitive way.
This link http://dev.ardupilot.com/wiki/raspberry-pi-via-mavlink/ explains how to do it, but do not dare to try, on the one hand because my knowledge of progración are limited and barely I’ve got a prototype running properly bluerov.en general lines to change and add a few lines that may fall in confilcto with bluerov code.
Surely someone in the forum have a wider knowledge and explore this path. Thank you.