Sadly you have decent tv/film sci-fi and ok tv/film sci-fi and lots and lots of pretty poor tv/film sci-fi.
Firefly is one of the good ones, but even the good tv/film sci-fi is never as good and well thought through as the best book sci-fi.
It's even worse in this modern era, and really Firefly was in that period when tv sci-fi could still be good (if flawed). Just look at the hot mess Star Trek and Star Wars now is!!
The Orvil is parody, so is not quite the same thing, and the one promising show (apparently) i forget the name off was dropped by it's network. We are in dumbsville for dummies in terms of tv and film currently.
Agreed when the parody is genuinely better than the real deal you have problems.