Running PX4 on Nucleo-F767ZI PX4

I have run Nuttx on the Nucleo-F767 with no problems, but when I try to port PX4 onto the Nucleo, I run into issues. I got the bootloader on there using st-flash write, and setting the boot address to 0x00200000, since that is where the Nucleo boots to by default. When I build and upload the firmware, I get stuck at “waiting for bootloader”. I think it might be related to how I configure the USART/UART ports, or how the USB is configured. Does anyone know how to setup the USB or USART for the Nucleo? I tried setting the serial mapping and used USART3, USART2, UART8, and UART6, but have not been able to access the console.