Just some ideas
You could re-do the screens using:
1. Side bar menu or tab bar menu to select the setup screen you want instead of a long list of options(buttons) on the main screen - would recommend side bar that is activated when taping on the top left corner (the three line symbol used on many apps)
2. Split the screens in subscreens so they fit on one screen without scrolling. The first screen could have the most accessed settings and the rest could be grouped under the next screen. Navigation could happen using buttons to show you the next screen or to jump to a section. For example:
A. Main settings you could show gyro and tail gain and common gain, then have a button that says rotation speed and when pressed it takes you to the cycling and rudder rotation speeds.
B. The screen with limits you could have collective and cyclic ring on the main then have buttons for rudder end points.
Or create a sub menu screen where you have buttons for each of the group boxes that are currently on one screen. For example:
Main and tail gains
Rotation speeds
Also the dial buttons for adjusting gain are nice visually but up and down arrows with a text label next to them / pick list would be much more usable to adjust without fiddling.
Also if you targeted iPhone 5 and over you can use longer screens as the iPhone 4 is much shorter and you're loosing screen real estate.
Finally you could always loose the landscape layout for the iPhone - not sure if it adds any value at least for launch. On the other hand the iPad is perfect for landscape.
Which library are you using for porting the code over? Maybe we can help
I'm guessing it's QT?