Thanks must go to CruelGiraffe for the great Nok write up.
I have taken some of his information about the android setup and rehashed it..
Notes:
You can long press on any of the directions to enable autowalking, single press again to stop.
You can move the controls by holding the centre button of the joystick.
I am not a developer, and have not affiliation with this app, it just works great for me. Hopefully it works the same for you.