how can i upload custom firmware?

hi all

first,my english is pool

i want upload my custom firmware.

i follow this page
    
    http://dev.ardupilot.com/wiki/building-the-code/building-ardupilot-with-arduino-windows/

and installed this program

    ArduPilot-Arduino-1.0.3-gcc-4.8.2-windows
    MHV_AVR_Tools_20121007.exe

and used firmware 3.2.1  

    https://github.com/diydrones/ardupilot/tree/ArduCopter-3.2.1


used arduino sketch program and upload firmware


3691209250?profile=original

upload is done ... but

'verification error'  and  APM's red LED isn't working and do not connected mission planner.

 
and then
when i using mission planner 'Install firmware' menu  and APM is normally working.   



question :

 how can i upload custom firmware?
 

help me guys.

thanks all

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