HIL simulation using Xplane's Physics for feedbacks

Hello everyone,
I want to do HIL simulation using Xplane and Mission planner and just want to know if it’s possible (without making any changes to the code) If I setup a Rig where all of my Motors avionics controls surfaces will go and use Xplane for physics simulation as well as get the feedback from Xplane to Control my RPM or Control surfaces based on those feedbacks. I was going through X-Plane Hardware in the Loop Simulation — Dev documentation but couldn’t understand the process properly ,@tridge any suggestions from your side will be helpful.
Thanks in advance