What angle is it at, and how long is it at ride height?
"ground" length = length of driveshaft @ ride height * cosine(angle from horizontal)
vertical difference at ride height = length of driveshaft @ ride height * sine(angle from horizontal)
Now add the amount your wheels droop below ride height to the vertical difference @ ride height number, divide that by the "ground" length number, take the inverse tangent of the result. That'll give you the angle the driveshaft will be at full droop. Take the cosine of that, reciprocal, then multiply by the "ground" length again, and you have the length the driveshaft needs to safely extend to at full droop. Unless I screwed up on some of my trig, that is.