Sounds like Mustafa Thuria was the driver, Hamza Wael Dahdouh was in the passenger seat, and Hazem Rajab, Amer Abu Amr, and Ahmed al-Bursh were in the back seat (all three of those survived).
AFP says they were filming a house that was damaged by combat, so my guess is they were using a drone to gather footage that is close enough to the drones used by Hamas that the IDF considered it a threat to troops operating nearby.