Take a look at this. It's an update from the guy that modified urbi for the AR Drone:
http://translate.google.fr/translate?hl=fr&sl=fr&tl=en&u=http%3A%2F%2Fwww.psykokwak.com%2Fblog%2Findex.php%2F2011%2F03%2F28%2F60-ar-drone-et-urbi-embedded
I think we can use urbi again, and even better, it's actually embedded on the drone in this more recent example. The site above is originally in French, but this link should provide a translated version. The post that I'm reading is dated March 28, 2011. The only question is weather or not the new urbi download he's providing works with the new firmware. The download is for urbi 2.6. I'm hoping it works.
This is the link to his urbi software package:
http://www.psykokwak.com/blog/images/ardrone/urbi-sdk-2.6-525.tar
This is the link to the howto video:
http://www.youtube.com/watch?v=Cdxq89CigcI&feature=player_embedded
There's more stuff on the translated french site:
http://www.youtube.com/watch?v=Wiv4rC-doJI&feature=player_embedded
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