Relay with PixHawk 4

Good morning all,
I am currently working on a surface drone project. I use the PixHawk 4 as a flight controller. I want to control a 12V lamp that I will activate or not this lamp. For this, I tried to control it simply with the light function but since this one works in 5V I was not able to use these functions.
So I turned to the use of a relay but I can not control this relay with the existing function.
I want to control the output like a GPIO to turn my 5V relay on or off.
If anyone knows how I can go about it that would be wonderful.
Thanks everyone.

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