Pluto runs on ESP module. In order to connect pluto using a third party software, you need to connect to Pluto’s network(Or configure pluto to connect to your network). After connection to the network, you need to open a TCP socket on 192.168.4.1:23. After this, you can talk to Pluto using the Multiwii protocol http://www.multiwii.com/wiki/index.php?title=Multiwii_Serial_Protocol. I hope this information can get you started. Let me know if you have more questions.