Snake Robot Help

So for my internship, I am working on using the Ardusub setup to create a snake-like hybrid rov. There are two motors for thrust, and then four servos to bend the robot to create directional control. I read the documentation on creating a custom configuration, but how do I set it up so that servos respond to my pitch and yaw commands? Also, is it even possible to use four servos on the pixhawk? Because if not I can wire them in pairs of two. Thanks!

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You can consider the servos like motors: actuators that effect the attitude of the vehicle. The control signal for the servo and motors is the same. You can use 4, 6, 8 servos the same as motors.

For example, if the servo movement will cause the vehicle to yaw, assign some yaw contribution to that servo.