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This issue over here perfectly describes what needs to be done.

First off, Edit ardrone_autonomy/CMakeList.txt and replace line 80 and 81, which are:

GIT_REPOSITORY git://github.com/AutonomyLab/ardronelib.git
GIT_TAG bdacd1cbd3fbc54263d29e6e2067265e5941d10e

with:

GIT_REPOSITORY https://github.com/PhilippeMorere/ardronelib.git 
GIT_TAG 53af2ad47cbfea022f70ca1360daa7974369d6b3

Make sure you limit the number of threads during compilation:

export ROS_PARALLEL_JOBS=-j2

and finally invoke catkin_make.

P.S. Now if you have a problem with ffmpeg, like I did, just invoke sudo apt-get remove ffmpeg and it should be working (At least in my case).