Transmitting real-time Roll, Pitch, Yaw and Thrust data From Simulink to a PX4 Quadcopter

Context:

We're designing a Quadcopter automation project that requires real-time communication between Matlab Simulink and the PX4 enabled Quad. In this case the Simulink model generates trajectory tracking output rates Roll, Pitch, Yaw and Thrust, which then needs to be wirelessly transmitted to the PX4 system in real-time. Most likely over MAVlink RF connections, I think.

Question:

Having combed through data sheets for MAVLink and the Simulink PX4 Embedded Coder I'm still not 100% clear on whether this is possible. Being on a budget for the project we just need a rough idea on how this could work so we don't accidentally spend dollars on a PX4 flight contoller if it doesn't opperate as needed.

Thanks in advance. Any help is greately appreciated!