Integrating ESP32 to PX4

Hi, I am doing a project which is to design and demonstrate the concept of urban outdoor drone navigation without reliance on GPS.

Setup wise, there is a tag module (an ESP32 controller setup) on the drone which takes in UWB signals from beacons, and uses multilateration to estimate the drone’s current position

The idea is that if GPS on the drone is bad (based on a measure of SAT count), then I want the tag module on the drone to replace the GPS data that is being sent of to the drone, sort of like having a secondary GPS

The problem I am facing now is that I have no idea how to integrate this tag module (ESP32) to the drone’s flight controller (PX4) such that, the tag can send estimated coordinates to the flight controller in place of the usual data from GPS