It looks like the handheld mic currently being used is plugged into only the PA system. Your step 1: Set a budget.
If I were doing your audio...
1) You would have a wireless lavaliere on you. A small mic element is clipped to your shirt connected by a thin wire to a battery powered body pack on your belt. It transmits wireless audio to a base station. The base station plugs into a mixer, the mixer plugs into the camcorder.
2) There is a second mic or two on or above the stage or crowd that gets their audio.
Because you say the camera is a "fair distance from you" and considering the audience, I would be using wireless on all mics.
Equipment list:
Wireless lav: Shure wireless lav
http://www.bhphotovideo.com/c/product/553681-REG/Sony_UWP_V1_3032_UWP_V1_Wireless_Lavalier_Microphone.html/prm/alsVwDtl
Sennheiser and Audio Technica make good equivalents (I use Sennheiser G3 series labs).
Wired mic (or two):
Mics
http://www.bhphotovideo.com/c/product/68459-REG/Shure_SM57_LC_SM57_LC_Microphone.html
These are normally used as a wired mic - but the distance and running cables make that problematic. The wireless modules (below) turn them into wireless mics. A couple of mic stands are a good idea.
wireless connection:
http://www.bhphotovideo.com/c/product/460225-REG/Audio_Technica_ATW_1822D_ATW_1822_Dual_Wireless.html
Now you need to connect the mics to a mixer. The wireless base stations plug into
http://www.bhphotovideo.com/c/product/857043-REG/juicedLink_RM333_RM333_Riggy_Micro_Low_Noise.html
and this XLR adapter plugs into the camcorder's 1/8" (3.5mm) mic input.
There are several other ways - this is just how I would do it...
I am a local magician, and I want to have some video's done of my show. I own a Cannon HG10.
The issue is I need a good mic that will not only pick up the ambient noise, but my voice as well. I will use an unmanned camera on a tripod and want to record the audio directly onto the camera. The camera will generally be a fair distance from me, going over the heads of the crowd. The shots will be outdoors and indoors.
Here is a link to a video so you can get an idea of the shot and see what it sounds like now directly from the camcorder's audio. I have cropped the video quite a bit.
http://captainkidmagic.com/video.html (the "blue" videos)
Many thanks for your advice!

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