The ardrone2_raw does support the Flight Recorder, except for the fact that you have to manually configure it with "Sirf Demo". The idea is to make a module like the ublox center module, to change the configuration of the Flight Recorder.
Next to the Flight Recorder it also support u-blox GPS. This one even works with the u-blox center module to configure the GPS. You can either have a u-blox GPS with mini usb connected right away to the AR.Drone, or use a tty cable and solder that to a u-blox GPS.
The raw version is currently in testing phase, but is usable as it is right now in master. Still having some problems now and then with the baro, that it doesn't boot correctly. Also having some little problems when something gets in between a propellor and all motors stop, that we sometimes can't start all motors again. But it works about 90% of the time to reset all 4 motors correctly.
There could alos be a "floating point error" somewhere in the code, but we aren't sure if it comes from our vision framework(which isn't in master yet) or from paparazzi somewhere.
Thank you for the cleanup! This is much better!