How to connect DJI S900 rotors to Pixhawk?

Hello!

I'm a newbie in the drone world. I've bought a DJI S900 and a Pixhawk and everything went well up to a point. As I don't want to mess up anything, I want to make sure what is the correct way to connect the rotors of the drone to Pixhawk. 

In their assembly video, DJI shows that the "IN" port has to be connected to the "F1" from the A2 Controller. What is the correct way to map these into Pixhawk's ports? I've only seen one free port, coming out from "IN". On different websites, it shows that I have to connect each rotor into channels 1, 2, 3, 4, 5 and 6 (or anyway, how many rotors has your machine).

I've also seen that they are called ESC, but on my drone I see only M1, M2, M3, M4, M5 and M6.

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