Offboard computer (+ camera) talking to SITL pixhawk?

Hey all,

I’m currently working on a small team to enable AI object tracking on a drone. Our first step was creating a SITL setup with PX4 + Gazebo + QGC and we got a Gazebo camera stream set up. Now we’re trying to get our offboard computer (+ camera) set up to talk to the Pixhawk using Mavlink and give it commands based on what it sees.

Is it possible to hook up this offboard computer to a SITL pixhawk? Or do we need to move to a HITL setup with a physical Pixhawk?