By upgrading to the newer version of ardupilot-arduino (went from 4.7.2 to 4.8.2, I was able to get the code to compile. However, now when I try to upload it, I get the error:
System wide configuration file is "C:\ArduPilot-Arduino-1.0.3-windows - 4.8.2\hardware/tools/avr/etc/avrdude.conf"
avrdude: error at C:\ArduPilot-Arduino-1.0.3-windows - 4.8.2\hardware/tools/avr/etc/avrdude.conf:332: programmer type must be written as “id_type”
Has anyone else run into this?