Add obstacles to mission

Hi
I want to add obstacles like dji mission. I used the qground control but it do not change the path of the mission, I want to add the obstacle first and then change the path by specifying the mission (Like the image below). I can not use avoidance because it causes a delay in the mission.

ae096b369a706827f9e113fcffa699e16fad1128

What similar work can I do? Please introduce if you know of a way.
Thanks

QGC does not currently support this

Hello, I support the request, add obstacles to the mission. This is a very useful feature in the program QGC and is sorely lacking for individual flights where low flight altitude is essential to the mission.

It seems like a nice feature. Do you have any code for reference?

I wonder how you did it too @Serhii_Saprykin