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I get this error when I try to compile.

c:/arduino-1.0.2/hardware/tools/avr/bin/../lib/gcc/avr/4.3.2/../../../../avr/bin/ld.exe: ArduCopter.cpp.elf section .text will not fit in region text
c:/arduino-1.0.2/hardware/tools/avr/bin/../lib/gcc/avr/4.3.2/../../../../avr/bin/ld.exe: region text overflowed by 19536 bytes

Any help would be great.

Tom