"Hi,
I'm developing as you, a Quadcopter with de UDB4.
The XbeePro you can only connect via the TX2 and RX2 ports. You can changes de configuration about speed or add DMA for the UART as I have done.
The GPS is suposed to use the UART1 port, but it…"
I use MPLAB X in Linux, but I can guess you haven't de C30 compiler libraries installed. You need then to compile for de PIC ds33.
Or maybe you need to add the pic30-coff-ld.exe by hand, but it's not…"