Raspivid gstreamer zerotier qgroundcontrol

I hope to use pi camera for video streaming to my mobile(4g & zerotier vpn) qgroundcontrol.

(raspivid / gstreamer / zerotier)

considering above factors,

how should I type in pi command line to get video stream to qgroundcontrol?

below is my setting. I can get telemetry data 4g.

Pixhawk 1 (2.4.8) Rpi 3 b+ & pi camera
Mavlink-router installed
VPN (zerotier)
LTE usb dongle : Huawei E8372

Mobile (4g & Zerotier one) - qgroundcontrol