Serial communication with a terminal?

I am just becomming familar with the Pixhawk 4 and I am wondering if there is a way to connect a terminal via a serial line to the Pixhawk and to do some rudimentary queries on it, such as ‘send current altitude’ or some other state information? What port on the Pixhawk would be used? Telem2? UART?

In the mean time I’ll keep poking around the docs.
Any insight is appreciated.


There’s a console you can use over MAVLink: