ADSB moving obstacle avoidance

I have 2 drones and I want to do different missions in the same field using separate Mission Planner. My autopilot is the orange cubepilot.
How can I do obstacles avoidance between the two drones knowing each other’s telemetry data online at 1 Hz?

This sounds like software problem. You may ask this on Ardupilot forum so their developers can answer you.

You may also check Ardupilot wiki