There are enough cheap knocks offs of the cables on ebay that it's fairly easy to get a suitable cable.
As for what to connect it to, I decided to solder up an optoisolator based adaptor, as I was paranoid about damaging the camera. Pixhawk is a bit odd to interface with though, and I struggled to get it to drive a basic optoisolator properly as it seemed to struggle with the current draw. It did in the end work though.
There are likely better ways to do this as described above.