Natural language generation in real-time settings with raw sensor data is a challenging task. We find that formulating the task as an end-to-end problem leads to two major challenges in content selection - the sensor data is both redundant and diverse across environments, thereby making it hard for the encoders to select and reason on the data. We here present a new corpus for a specific domain that instantiates these properties. It includes handover utterances that an assistant for a semi-autonomous drone uses to communicate with humans during the drone flight. The corpus consists of sensor data records and utterances in 8 different environments. As a structured intermediary representation between data records and text, we explore the use of description logic (DL). We also propose a neural generation model that can alert the human pilot of the system state and environment in preparation of the handover of control.