How can I create a module (not a flight controller but runs in parallel with px4_simulink_app) using UAV Toolbox support package for PX4 Autopilots?

I want to create a module which runs in parallel with the flight controller's app developed through Simulink using the UAV Toolbox support package for PX4 Autopilots. I had successfully developed a flight controller using Simulink and when I click on "build, deploy and start", it creates a module named "px4_simulink_app" which runs at startup since in rcS file the module is started using the "px4_simulink_app start" command. Now I want to create another module which performs some side stuff like only gathers data from any MAVLink supported serial port from Jetson Nano which is performing some image processing on its own and sends the coordinates to Pixhawk Cube Orange plus. The cube recieves this data, do some processing and makes some decision and output the result via MAVLink to ground station. I want this module to be created via Simulink because I am ordered to not go into C/C++ coding. Also this module should run separate from the module created when using the default settings for creating flight controllers i.e px4_simulink_app. If I am wrong at any point please guide me through it. Thanks.