- Turn off line discipline in settings
- Use RAW mode to connect to localhost:5037
- Enter "0012transport-usb" (without quotes)
- Enter "0006shell:" (without quotes)
- Select Adb from the connection type list
- Enter "transport-usb" in the host (or any other connection string, check the adb socket interface documentation if you need something else than connecting via usb)
- Enter 5037 as port, if it's not already set there.
- Connect and enjoy (you might also save this connection, so next time you only have to double-click on the settings)