How do I integrate a custom flight controller using HITL?

[yopknopixx]

Hello! I am trying to develop a custom flight control software and I'm looking into testing using AirSim as opposed to an actual drone (in the initial stages). For now, I've considered using the Python or C++ API to get state and update motor PWMs using simGetGroundTruthKinematics and moveByMotorPWMsAsync which doesn't seem like a good approach given the latency.
Can anyone suggest a better approach to this?