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From your description, it appears you have two separate tf trees, one for the ar drone and other for the phantom.

Have you visualised the tree to see what is happening? You can do so by running (see this tutorial):

rosrun tf view_frames
evince frames.pdf

You will probably see that you have two separate trees, and there is no connection to traverse from one tree to another.

You could broadcast a static transform between world and base_frame to connect both trees. This page shows you how to do it.

I hope I'm not too far off your problem.