This is one of Frost and Hirsch's big slogans in The Shaping of Things to Come. I don't buy it.
Our Theology and our Christology come first, I agree with them on that. But out of our Christology comes our Soteriology (doctrine of salvation), not our Missiology. I think they blur Soteriology and Missiology together, since Soteriology is the 'mission of God'.
Soteriology precedes Ecclesiology, but Ecclesiology precedes Missiology. This is because it is out of our salvation that we gain our new identity and out of this new identity that we come to share in God's mission.