you should be able to configure your printer like any other network printer, the fact is wireless instead of a cable shouldn't matter, then in printerdrake
choose Add Printer -> Next -> Network printer, and mark "printer auto-detection"; printerdrake should find your printer.
Of course, you need to verify that some reasonable IP address is assigned to your printer, may be statically, may be from DHCP.
If it's automatically assigned from DHCP (i.e. from your wireless access point), you should take care that the address assigned to the printer will always be the same.
You can eventually verify the IP address assigned to the printer using the command: hp-probe -bnet