Autonomous lawn mower project using a Pixhawk and BTS7960

Hello, I am a university student in Thailand. Currently, I am working on an autonomous lawn mower project using a Pixhawk and BTS7960. I have tried many methods but still cannot control it properly. I am not sure if the wiring is correct or if I configured it incorrectly. Could you please guide me on how to wire the circuit and set it up in Mission Planner?