Setting Up NSH Console Over Serial 5 for Pixhawk 2.1

I’ve been adding support for custom UAVCAN messages on a Pixhawk 2.1, but so far have been programming Arducopter blind. I’m hoping to setup the NSH console in Mission Planner to enable printing of debug statements. With the mRo Pixhawk, this was accomplished by connecting an FTDI cable to the Serial 4/5 port as explained here: Running NSH using Debug Cable and Serial5.

Is there a way to setup a similar debugging environment using the NSH with a Pixhawk 2.1?

Thank you,