Skip Radio transmitter setup

Hello I recently began a project using a Pixhawk 4 mini and a raspberry pi zero as a companion computer. I would like to control the pixhawk (quadcopter) with the raspberry pi over the telemetry port & Mavlink protocol. I’m gonna write a program in python for the RPI.
My problem is QGroundControl says Radio setup is required prior to flight and doesn’t give me the option the test the motors.
So does the pixhawk required a radio transmitter/receiver to even be set up in the first place? If this is the case the pixhawk4 mini only has 1 telem port.