USRP-Compatibility with Ardupilot Platforms

I’m a newbie, trying to build configurable wireless networks using copters. I want to try my initial experiments with off-the-shelf (e.g., 3DR or RFD900X) telemetry, but eventually want to replace the telemetry using my own soft-modem built on the USRP.

Could anyone suggest how I might go about choosing the right hardware platform? A few possible drone names/vendors would really help. Is Ardupilot compatible with USRP?

Many thanks

If your USRP SDR has a serial port, then you can implement it without a companion computer. Without changing any data on the serial port, just send and receive serial data.