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.