Collecting data from ground sensors

We have some ground sensors scattered in a field collecting data about the soil. We want to be able to send a drone to collect the data from the ground sensors.

Using ArduPilot we can plan a mission for the drone by creating waypoints for each ground sensor. The question is, is there a way to tell the drone to initiate data transfer from the ground sensor once is close enough and wait there until the data transfer is complete before it continues to the next waypoint-ground sensor?

Ideally we want to do this first at a simulation level.

Many thanks in advance,

I am new to Ardupilot - Drones so any help would be appreciated.

you would need to look into lua scripting, id guess its possible, but a very custom task