Unmanned aerial vehicles (UAVs), and unmanned aerial systems (UAS) as such in general, need wireless networks in order to communicate. UAS are very flexible and hence allow for a wide range of missions by means of utilizing different UAVs according to the mission requirements. Each of these missions also poses special needs and requirements on the communication network. Especially, mission scenarios calling for UAV swarms increase the complexity and call for specialized communication solutions. This work focuses on these specialties and needs and describes the selection process, adaptation and implementation of an ad-hoc routing protocol tailored to an UAV surrounding and a correspondingly adapted communication method.