ardupilot/libraries/AP_Common/examples/menu/menu.pde

#include <FastSerial.h>
#include <AP_Common.h>

FastSerialPort0(Serial);

int8_t
menu_test(uint8_t argc, const Menu::arg *argv)
{
    int i;

    Serial.printf("This is a test with %d arguments\n", argc);
    for (i = 1; i < argc; i++) {
        Serial.printf("%d: int %ld  float ", i, argv[i].i);
        Serial.println(argv[i].f, 6);    // gross
    }
}

int8_t
menu_auto(uint8_t argc, const Menu::arg *argv)
{
    Serial.println("auto text");
}

const struct Menu::command top_menu_commands[] PROGMEM = {
    {"*",               menu_auto},
    {"test",                    menu_test},
};

MENU(top, "menu", top_menu_commands);

void
setup(void)
{
    Serial.begin(38400);
    top.run();
}

void
loop(void)
{
}