Is there a way to do this? Currently, the GDrive links I click in my emails open in Safari.
Is this currently a limitation of the app (or iOS 7)? Is there a configuration I can change?
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If you open the links in the Gmail app for iOS, and you have the necessary Google Drive app installed (Google Drive, Google Docs, Google Sheets, and/or Google Slides), Gmail will by default open the links in a Google Drive app. You can enable or disable that feature in Gmail through Menu > Settings > Google Apps.
Alternatively (though it's less direct), you can paste the link into Chrome for iOS, and there will be a bar at the top of the page to open the link in a GDrive app.
Apparently you can prepend the url with the respective Google app to which it belongs. So if it is a Google Sheet, prepend the url with
Googlesheets://. If it is a doc, I'm guessing you would use
So if the url is
http://docs.google.com/spreadsheets/Google-document/, amend it with the appropriate app prefix (in this case
Googlesheets:// like so:
PS: The issue is discussed at length here.