Recently, a new form of telexistence is achieved by recording images with cameras on an unmanned aerial vehicle (UAV) and displaying them to the user via a head mounted display (HMD). A key problem here is how to provide a free and natural mechanism for the user to control the viewpoint and watch a scene. We propose an improved rate-control method with an adaptive origin update (AOU) scheme which handles the self-centering problem without the aid of any auxiliary equipment. In addition, we present a full 6-DOF viewpoint control method to manipulate the motion of a stereo camera.