Telemetry data tunneling

I want to know if it is possible to tunel telemetry data using the pixhawk AP. I want to monitor various sensors by flying in close proximity and then sent the data to my base station. There I want to plot the data on a map and on specific conditions, want to sent a new waypoint to the plane to go inspect a specific sensor

Will this be possible with the Pixhawk AP and also what other equipment / software will I need to achieve this?

Last. anybody out there capable to help in the development of this?

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