Adapting telemetry code PX4

I have two PX4s and want to know if I can edit the code to allow the boards to communicate with each other independent of their own ground stations. I want this communication to be a serial string of live GPS data to be used for various processing. Can anyone give me some guidance as I am aware the telemetry module cannot "usually" send data to a ground station and another telemetry module linked to a separate ground station. 

thx

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