How can I set the channel for a servo I am connecting to the PM07 of the Pixhawk4

G-d willing

Hello all, I am new to this hobby and I have a simple question for you.
I would like to control a servo from my RC by connecting the servo to the PM07 and not to the Receiver.
In QGroundControl there is a specific parameter for it called RC_MAP_AUX1, but I have no idea how to do it in mission-planner. Is it done by setting a parameter as well? Is it through the “Servo Output” window?
I attached an image showing the PM07 and where exactly I connected the servo.