We have developed an autopilot that is fully compatible with all vehicle types designed for the ArduPilot suite (helicopters, multirotor aircraft, fixed-wing aircraft, rovers, surface vessels, etc.). The main feature of this autopilot is that adaptive capabilities are embedded without modifying the original ArduPilot architecture, hence the name ADArduPilot. We tested the proposed autopilot in various scenarios requiring adaptation (different payloads, different vehicle masses, environmental disturbances), and results show that the proposed adaptive mechanism consistently provides improved performance in terms of tracking error and control effort.