For Stable build: Click the intrument page to change pages to the camera page.
For Daily build: Select Camera from the drop down.
Here is what it looks like in the Daily Builds.
That should already work. The Firmware must send the camera trigger notice though. I know it works for missions. Not sure if it works for just a single trigger command.
Coming: https://github.com/mavlink/qgroundcontrol/pull/5579/. Trying to figure out the best way to display this. If you have ideas please commend in the pull request.
The is going to be somewher between really hard and next to impossible. The ground station doesn't know the flight characteristics of the vehicle. Hence it won't be able to do a very good job with loiter to alt.