The deployment of terrestrial/satellite networks, plays a crucial role for for risk and emergency management. In this context, efficient solutions for heterogeneous and mobile networks, including satellite portions that allows wide coverages, represents a key issue. In the mentioned scenario, transmitting video with portable devices (such as smartphone), over terrestrial/satellite networks, to a Remote Monitoring Host (RMH) may support emergency and rescue operations after crisis situations. Unfortunately heterogeneity often implies impairments such as packet losses, due to errors and congestion, which negatively affect the video quality. We present an application layer joint coding algorithm for video transmission, that adaptively applies video compression and channel coding at the application layer, on the basis of the overall network condition estimated in terms of maximum allowable throughput of the network and quality (packet cancellations or lossiness). A deep performance investigation, carried out with real implementation of the algorithm, compares the joint coding against fixed schemes and shows that the joint approach adapt the video transmission to terrestrial/satellite emergency networks so allowing a more efficient resource exploitation.