We release an autopilot that is fully compatible with all the vehicle types the ArduPilot suite was designed for (copters, multi-copters, fixed-wing aircrafts, rovers, surface vessels, etc.). The main feature of this autopilot is that adaptation capabilities are embedded without modifying the original ArduPilot architecture, hence the name ADArduPilot. We test the proposed autopilot in several scenarios requiring adaptation (different payloads, different vehicle mass, environmental disturbances), showing that the proposed adaptation mechanism can consistently deliver improved performance in terms of tracking error and control effort.
