Connecting Servo to Pixhawk 4 w/PMB

I’m trying to control a servo motor that I currently have attached to the PMB provided with the Pixhawk 4. I’m using a Taranis X7 as the receiver and QGroundControl as my ground control station. I can’t seem to figure out how to make both the proper connection physically, and what parameters need to be changed in order to control the servo motor. It’s being used for a drop mechanism so it only needs to change between two positions in theory. Any help on the subject would be greatly appreciated…