Gazebo HITL Simulation over WiFi

I am trying to do HITL Simulation over WiFi with PX4 running on a beaglebone blue.
QGC on the host computer connects to the beaglebone over WiFi correctly.
I am just confused as to what needs to be changed in the sdf file of the aircraft so that the Gazebo model connects to the PX4 running on the beaglebone blue?