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Generally ros returns odometry but not for ardrone. For quadcoptors odometry readings are not easily estimated unlike in the case of mobile robots. To estimate the position either you can integrate velocity values that u get in navdata but as you mentioned it is very erroneous . One way to estimate position of Drone is using Ar tags. You can either put a artag on drone and let some external camera track its location or you can put artags at predefined location and let ardrone camera see it and then estimate its position. For artags look ar_pose package in ROS.
Another way is to implement VSLAM using monocular camera like PTAM.
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