The airborne Unmanned Aerial Systems (UASs) have been broadly used for situational awareness (SA) for monitoring environmental changes in a real-time manner. The challenging issues for such a purpose are (i) UAS wireless link communication for data delivery, (ii) high volume of data collected from the surveillance areas, (iii) the ground sensor suffers from power constraints, (iv) interconnectivity from the UAS to the ground sink, (v) data preprocess with the SA quality. Our solution includes air-ground wireless TCP protocol for end-to-end data transmission, adaptive data compression and preprocess, and UAS-sensor collaborative data query over the remote sensor networks. The integration of them allows context-aware data collection from the ground sensor networks, adaptively configuration/reconfiguration TCP parameters over heterogeneous links, and data compression according to SA quality.