def Collision_checker(messages_grouped):
"""
messages_grouped as example:{Drone0: (list of dictionaries), Drone1: (list of dictionaries), ...}
"""
for key in messages_grouped:
     X_new=messages_grouped[key][1]['X (ENU)']
     Y_new=messages_grouped[key][1]['Y (ENU)']
     Z_new=messages_grouped[key][1]['altitude']
     X_old=messages_grouped[key][0]['X (ENU)']
     Y_old=messages_grouped[key][0]['Y (ENU)']
     Z_old=messages_grouped[key][0]['altitude']
     for key in messages_grouped:
         X2_new=messages_grouped[key][1]['X (ENU)']
         Y2_new=messages_grouped[key][1]['Y (ENU)']
         Z2_new=messages_grouped[key][1]['altitude']
         X2_old=messages_grouped[key][0]['X (ENU)']
         Y2_old=messages_grouped[key][0]['Y (ENU)']
         Z2_old=messages_grouped[key][0]['altitude']
         Line1=Line_analysis(X_new,Y_new,Z_new, X_old, Y_old, Z_old)
         Line2=Line_analysis(X2_new,Y2_new,Z2_new, X2_old, Y2_old, Z2_old)

         if Line1 is not None and Line2 is not None:
             Intersection=Line1.intersection(Line2)
         else:
             pass