Gimbal control with Pixhwak mini


I’m building a medium sized inspection quadcopter. I’d like to control the gimbal via the pixhawk mini and mission planner. I’ve done it before on a cube using the aux out ports. Considering the mini lacks aux outs, what’s the best way to control the gimbal? Can I create a custom mix to change the last 4 outs to be servo control instead of motor control? I’m open to any ideas. Thanks!

Should be the same, using the spare main outputs instead of the Aux outs.
Works on a Pixfalcon.