Pixhawk quadcopter with additional dc motor

i want to make quadcopter with two wheel.
but i don’t how to make it. I know about basic settings of quadcopter by through mission planner.
first, how should I connect the dc motor and do i need to esc?
Second, how can i control the additional dc motor with contoller or by the GCS like mission panner?

Can you explain it as if you teach elementary school student?