"Yes, you could. You may want to use THIS.It had many build in functionalities and you may use with sockets.io or use the build in functionality. However, you will have to write your own communication link between the phone and the pixhawk. "
"There is no SDK yet. We, at Flyver are building a hardware independent SDK which will support the ArduPilot. You could follow the project on http://flyver.co"