As Gary Mortimer noted, the forthcoming Parrot AR.Drone GPS add-on, which was announced at CES, supports MAVLink and can work with QGroundControl and the APM Mission Planner. I talked to Parrot at CES, and it sounds like they're going to leave autonomy to hackers and third-parties; the official AR.Drone software will support GPS datalogging, but not control, itself. They also haven't announced a price or release date for the GPS/datalogging module yet.
But for us in the MAVLink world, this is great news. There are now 500,000 AR.Drones out there, and the possibility for them to become real drones, with autonomy, could lead to a huge surge of people getting into amateur UAVs.