4 and 1 esc connection to pixhawk

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Hi I am building my first quadcopter with a Pixhawk Px4 for an academic project. I want to use a 4 in 1 esc that is around 45A. Here is an example: 45A 4 in 1 ESC that I might use.
When connecting the esc to the Pixhawk Px4, I was wondering if it is only necessary to connect the signal wires for each motor? This would make sense since the battery is connected to the ESC, so the ESC should just receive power from the battery. I was wanting to use an adapter like this one (adapter) and connect it to the esc and only have the signal wires connected to the Pixhawk.

Also, it looks like the ground cable will also need to be connected to the Pixhawk Px4
 
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