i am trying to conduct the tests before i fly my skywalker.

i have test flown my plane without any gear and have now just installed all the ardupilot.

on the test page http://code.google.com/p/ardupilot/wiki/Test

i have tried inputting 1 into my arudpilot with the new 2.7.0 code

AP_config.h

// Debug options - set only one of these options to 1 at a time, set the others to 0
#define DEBUG_SUBSYSTEM 1         // 0 = no debug
                                // 1 = Debug the Radio input
                                // 2 = Debug the Servo output
                                // 3 = Debug the Sensor input
                                // 4 = Debug the GPS input
                                // 5 = Debug the GPS input - RAW HEX OUTPUT
                                // 6 = Debug the IMU
                                // 7 = Debug the Control Switch
                                // 8 = Debug the Throttle
                                // 9 = Radio Min Max values


i hit upload and it stops 10 seconds in and highlights this piece of code on the ardupilot 2.7.0 tab

*/
       
float kp[]={SERVO_ROLL_P, SERVO_PITCH_P, SERVO_RUDDER_P, NAV_ROLL_P, NAV_PITCH_ASP_P, NAV_PITCH_ALT_P, THROTTLE_TE_P, THROTTLE_ALT_P};
float ki[]={SERVO_ROLL_I, SERVO_PITCH_I, SERVO_RUDDER_I, NAV_ROLL_I,
NAV_PITCH_ASP_I, NAV_PITCH_ALT_I, THROTTLE_TE_I, THROTTLE_ALT_I};
float kd[]={SERVO_ROLL_D, SERVO_PITCH_D, SERVO_RUDDER_D, NAV_ROLL_D,
NAV_PITCH_ASP_D, NAV_PITCH_ALT_D, THROTTLE_TE_D, THROTTLE_ALT_D};    
   

const float integrator_max[] = {SERVO_ROLL_INT_MAX, SERVO_PITCH_INT_MAX, SERVO_RUDDER_INT_MAX, NAV_ROLL_INT_MAX,
NAV_PITCH_ASP_INT_MAX, NAV_PITCH_ALT_INT_MAX, THROTTLE_TE_INT_MAX,
THROTTLE_ALT_INT_MAX};

float    integrator[] = {0,0,0,0,0,0,0,0};    // PID Integrators
float    last_error[] = {0,0,0,0,0,0,0,0};    // PID last error for derivative
float     nav_gain_scaler    = 1;            // Gain scaling for headwind/tailwind


and the error below reads

error: 'SERVO_ROLL_P' was not declared in this scope In function 'void stabilize()':
 In function 'float roll_slew_limit(float)':
 In function 'float throttle_slew_limit(float)':
 In function 'void update_crosstrack()':

can someone explain what i am meant to setup here.

PS the new test page isnt very self explanitry for beginers.