Yes. If your motor is iPilot compatible you are set. iPilor replaces the auto pilot module if you already have it. Hence all the used auto pilots out there right now!
i-Pilot is compatible with Terrova and PowerDrive V2 motors, and does not require an autopilot in either of those motors. i-Pilot has its own Autopilot functionality, including a GPS-enabled advanced autopilot.
I saw a handful of i-Pilot accessories at Cabelas yesterday, and know of a couple of independent vendors that have them available we well.