IOS/Android Remote Control Over Wi-Fi

We have been building a RPi A+ & Navio+ controlled quadrotor using RC tx and rx. We already have a Wi-Fi dongle connected for FPV use and were wondering if there was any way to control the Quadrotor over the Wi-Fi connection similar to:


We know that we could use MavLink to input GPS coordinates but our quadrotor isn’t equipped with a GPS unit and we were hoping for real time control.


I remember that DroidPlanner had those controls in the beginning, but they were removed because of some reasons. Probably some MAVLink GCS for Android should have those, but I am not sure which one (maybe possible to find an old version of DroidPlanner?).