Connecting Drone Telemetry link to ground-based gimbal FC board

We would like to record videos using SYSID tracking on a ground-based camera gimbal.

The drone telemetry comes into a PC via RFD telemetry radios, and the connection to the flight-controller board running COPTER is made via USB or 433 SiK radios.

Is it possible to use MAVPROXY such that the ground-based controller can listen into the telemetry link incoming from the airborne vehicle? The RFDs are inside boxes as this is used for a teaching activity, and as such we cannot just get a wire from the TX of the RFD to an RX port on the flight controller easily, and this becomes even harder if we use the 433 radios if we want a different POV of the flying UAVs.