eduMIP with BeagleBone Blue, how to control wireless

I was able to get it to balance, now I want wireless remote control. I have RC equipment including transmitters and receivers. How do I connect a receiver to the BBBL? Is there another way to control, maybe via my Windows 10 computer via WiFi? I am an Android user so the iPhone app is not an option for me.

Thanks for the info,

James Nichols