Yeah. Download a new copy of your WordPress installed version, find the file that you deleted in that download, and upload that single file. Don’t reupload the whole thing otherwise you’ll delete everything.
Try uploading a new download of your version of WordPress, overwriting every file except your wp-content folder. This will save all your posts, plugins, uploads and themes, but give you a completely new WordPress install.
In the image settings, you can select a link to visit when it is clicked. Type (or paste) the link to the PDF (yourdomain.com/wp-content/uploads/year/month/name.pdf) and press Insert into Post.