It just really expensive to create a device that connects to the Lighting connector for small developer. Connecting using WIFi incurs minimal latency compared with the telemetry ground module.
You can use this ESP8266 module from AdadFruit module which is only $10 or even this ESP8266 module from Deal Extreme for $7
I was going to update my Support pages to show how to connect them as a bridge or directly to the autopilot. I just have been very busy.