If at all possible I would also recommend upgrading to the newest release, 5.2 RU7 for expanded plarform support, new policy upgrades, and several other features that were added and bug fixes.
Always with CSP the installation/migration plan is the management server first, then console, then agents. Agents in the 5.x family are fully downgrade compatible with newer management versions (although as assumed some of the new features of the new policies will not work on the older agents). Installing newer agents with an older management server can run into problem as agent communication/features/ways in which it "tells" the management server certain things change with over time.
Dependent on what correlation engine you are running you may be forced to use 5.2.4 however. I know Arcsight (and course SSIM) support the 5.2.x family.