Yes indeed. Used the app on 6.1 and yesterday the Shield told me an update could be downloaded and installed. I took the plunge and went for it. After that tested the app and connected to RC and drone, checked all settings, menus and started motors (in house). Did not yet made a flight, will do on Sunday. I must say that Nvidia is fast with it's updates.
Please do a full flight. My nexus 6P on Android 7.1 appears to work until you actually fly it. After around 15 minutes the video freezes. I just bought a Shield K1 which will arrive next week, so curious about this. My 9th friggin tablet, just so I can get hdmi out.