If you have an avr with bass management, like you have, the normal thing is to use it. Not all avrs use the sub in stereo mode, might want to make sure it will do what you want (I don't know, no Yamaha experience for me).
The sub only appears only to have a fixed high pass filter of 80hz and only on the rca output, it doesn't have speaker level outputs so no crossover available for your proposed use (the dial on the sub is only a low pass filter, not a crossover).