Thanks to RaspberryPi community it has realy reach sources to start to work on a project.) As we have 8Mp camera for RaspberryPi why not to stream video from drone to Mission planner via Wifi, it is low cost and you just need to plug into USB port on DroneePilot.
I found many posts about Wifi video streaming from RPi to Mission Planner all requires to start camera on RPI each time and ned to conenct to shell and write a script to start camera. I decided to make easier , to start camera automatically on boot, and you don not need to start camera each time.
You can find more detail about this project from our Dronee Blog