A bottom hole assembly (BHA) configured for use in a drill string of a wellsite drilling system. The BHA includes a measuring-while-drilling (MWD) module, a wireless power and data connection, and a rotary steerable system (RSS). The MWD module is configured for coupling to a drill string, and includes a power generation component and a direction and inclination (D&I) survey package. The wireless power and data connection is disposed above a drilling motor in the drill string and for providing power and data connectivity between the MWD module and the drilling motor. The RSS is coupled to the drilling motor for receiving power from and communicating with the MWD module via the wireless power and data connection and the drilling motor.