Combined adaptive control law, using both variable and identification approaches for an autopilot of the unmanned aerial vehicle (UAV) homing guidance system is proposed. The combined adaptive controller design is based upon shunting method and passification with Feedback Kalman-Yakubovich Lemma. The adaptation algorithm provides prescribed attitude motion dynamics for different flight conditions. Simulation results verify efficiency of the combined adaptive controller in the case of significant uncertainty of the UAV parameters and time dependence of the guidance loop.