Stepper Motors and Pixhawk

I had a quick question as to how I could control 5 stepper motors (28BYJ-48 that are connected or run through 5 seperate ULN2003 Driver boards) with a pixhawk. I wanted to use the gps tracking on the pixhawk to enable these motors to turn at different parts of a mission but I couldn’t find any solid material anywhere else on the connections and how I could control these stepper motors through mission planner. Would I have to run these stepper motors through a microcontroller like an Arduino, but then how would I have the pixhawk communicate to the arduino(s) and tell them when the motors should be on?

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Unfortunately steppers are not yet supported.

Yes, this is the best way currently

Have a look at the relay functionality