I am looking for a better way to control my autopilot.

Pypilot comes default with wifi based controller. There are also RF remotes.

My issue with the wifi remote is I need to connect a device to the pi's wifi network. This works great but it means my iPhone(for example) insists on accessing the internet through the pi's wifi signal which is not connected. To access the internet I need to leave the pi's wifi. I also find the iPhone takes forever to connect to these networks that aren't connected to the internet. You can only connect to 1 wifi network.  

My RF remote is OK but it's a bit clunky. Mine requires 12 volt power.

What would be ideal is an app on my phone that could blast a bluetooth signal to my pi. I know wifi signals may travel further than bluetooth but I'd like to also have a bluetooth capability. This should be possible because my pi zero has bluetooth.