Through her mother, Ida was a direct descendant of Welsh Prince Gruffydd II ap Madog, Lord of Dinas Bran and his wife Emma de Audley.
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Madog II, succeeded his father and was killed in battle with the English in 1277.
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He was the eldest son of Madog ap Gruffydd Maelor and inherited his father's lands and title in partible succession along with his four brothers Gruffydd Ial, Maredudd, Hywel and Madog Fychan.