WWMD?

No, seriously, what would Macgyver do?

What Macgyver would do is use the tent poles (duct tape the joints for added airtightness) and towel (used as a face mask) as a snorkel for the guy, wet the bandana and cover his mouth and nose with it, climb down there, splint the guy’s leg with the walking stick and duct tape, make a sling for the guy with the deflated mattress and rope, climb back up and hoist the guy up.

That’s what Macgyver would do. I would call the park ranger.

Sorta makes me want to go camping.

UPDATE: At lunch it occured to me that the stove, tent, rope and mattress might be made into a hot air balloon, but that strikes me as problematic, I would go with the more prosaic hoist action.