The best replacement for ardupilot is naza.

The best alternatives to ardupilot are rated as following:
★★★★★  naza
★★★★  openpilot
★★★★  multiwii
★★★★  pixhawk
★★★★  kk2
★★★  paparazzi
★★★  arducopter
★★★  aeroquad
★★★  arduino mega
★★  hkpilot
★★  dji naza
★★  arduflyer
★★  megapirate
★  mikrokopter
★  micropilot
  wookong
  fy31ap

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Google Trends

Scale is based on the average worldwide traffic of ardupilot in all years. Click on graph for more.
ardupilot
naza
openpilot