Everything you need for a complete ArduPilot setup

• ArduPilot board and a row of breakaway headers
• Shield expansion kit with airspeed sensor
• GPS module (uBlox 5 recommended)
• XY and Z sensors or an ArduIMU+
• FTDI cable for programming
• Four female-to-female servo cables to connect ArduPilot to your RC system
• [Optional] Two Xbee modules for wireless telemetry. This one with this adapter in the air and this one with this antenna and this adapter board (or, even better, our ArduStation) on the ground/laptop side. You can connect the airborne Xbee adapter to Ardupilot with jumper wires.

The total is around $270 for the basic autopilot kit, plus another $110 if you want to add wireless telemetry.