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AR Drone 2.0 is still compatible.

Just Downgrade the firmware to 2.4.1 (i use this one) from

https://www.espaciodrone.com/todos-los-firmware-del-ar-drone-1-y-2/

Power up your AR.Drone
Connect your computer to the AR.Drone’s network
Open a telnet session to 192.168.1.1
type the following: echo "1.1.1" > /firmware/version.txt
press enter
type the following: echo "2.4.1" > /update/version.txt
Connect an FTP client to 192.168.1.1 Port: 5551 (i use nautilius ctrl + l then ftp://192.168.1.1:551)
Upload the downloaded plf file to the FTP server (AR.Drone)
Disconnect your computer from the AR.Drone
Disconnect the battery from the AR.Drone
Reconnect the battery
Wait about 5 minutes while the upgrade completes, leave your drone switched on

And use this git clone https://github.com/dsapandora/ardrone_autonomy.git

It works like a charm...