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Some quick research suggests that this isn't possible with the existing drivers:

ardrone_autonomy is built on the ardrone SDK, which doesn't appear to support the new GPS module. Probably a dead end.
roscopter and mavlink_ros are based on the mavlink libraries and communication protocol which supports the GPS, but only appear to support communication over a serial port. You could probably extend this to support IP communication to support the AR.Drone.

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