ESP32 PX4 SITL Integration

I am trying to integrate a sketch with esp32 flight controller code into PX4 SITL but i find it really hard to accomplish. I found that ESP32 is not supported as a flight controller. I am trying to test the esp32 controller sketch in the simulated environment of PX4 (jmavsim) but with no success. I tried to look for a simulation environment that supports custom ESP32 flight controller code but I didnt find something to build up on. I would really appreciate your help. Thank You.