The Pixhawk can be powered from three sources. With a power module, on the output rails, or with USB. The most common way to power it is with a power module and if you are ok with one power source that's all you need. If you want some redundancy you can put +5v on the output rails as well. This can be from a BEC on a ESC but a lot of people don't like this as ESCs are known to have issues and if they do it is possible for a voltage spike to end up on the Pixhawk output rail. What I've been doing is to power the Pixhawk with a power module and also with a dedicated quality +5V BEC connected directly to my main power and the Pixhawk output rail. The Pixhawk is programmed to monitor and use the most stable power source available. So if for some crazy reason the power module fails, it will automatically get it's power from the +5V on the output rail provided by the BEC. But for the most part it will use the power module input. Also, if you are running any servos or relays off the Pixhawk power rail that require power then you must supply power to the output rail anyway.