I very recently went on an air safari with a man called Andre Schoeman of Schoeman Safaris. He's an ex-military rotary pilot with fast jet experience. Not cheap but I could not recommend anyone more highly for skill, charm and effort.
In an area of the world where everybody is trying to out "lux" each other with ever more fanciful and attractive lodges or camps Schoeman Safaris were refreshingly rustic.
You can find them on the Web
The Scout