FS IA6B with pixhawk lite

I’d like to ask you for some help!
I have a pixhawk lite flight controller. Also I have FS-IA6B receiver.
I’d like to know, how can I connect my pixhawk with this receiver?
I think I should do it by PWM outputs and inputs, but where exactly they are on pixhawk lite?
I’ve found some pixhawk lite pinout pictures. However, there are AUX outp. and Main outp. So, I’m confused, which pins I should use to connect my ESCs and which pins to connect my receiver to work with PWM?
Thank you for your attention!