Connect pixhawk to motor drivers and servo motors

hello everyone. I’m new to this platform. I want to rotate this servo motor for the wheel of my land vehicle. But I couldn’t make the connections and can you help me which rc commands should I change in the mission planner?
Materials I used: VNH2SP30 (MOTOR DRIVER), PİXHAWK 2.4.8, 12DS RECEİVER, MG995 12V DC MOTOR with reducer and lipo battery