HiL with Crazyflie

Hi everyone, I’ve successfully flashed PX4 on Crazyflie 2.1 and controlled it with my joypad using QGC. Now I would like to set up an HiL enviroment using a simulator program such as Gazebo or MAVSim. I’ve already followed the guide but i think that is related only to the fully supported hardware (ex. pixhawk). Has someone any idea on how this can be done? Thanks in advance