Add obstacles to planing

Hello
I want to add obstacles like dji mission. I used the Mission Planner and qground control but they 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.

47706388-bbf98400-dc31-11e8-8533-3d617416f759

Please introduce if you know of other software or a way
Thanks.