hello,
first of all i want to say sorry if you feel that this thread is not necessary and i should do it myself but i couldnt so came for help

i wanted a hex file that i can burn on my multiwii [most of the people know which one i have]
i want more stability on my quad[x version] as it is not very stable with the kk5.5 [not blaming or going against it.. it is a very good board]so i want to upgrade .. if anybody can make a hex file which i can simply burn on the atmega 328p chip it would be a lot of help..
i couldnt do the uploading of the firmware as it keeps on giving error after errors like GYROSCALE not found ..but i cant rectify them even after researching a lot
thanks in advance 

btw you have programmar - usb asp / isp for flashing hex

yes i have usbasp.. btw about the error .. its showing this

Arduino: 1.6.3 (Windows8), Board: "Arduino Pro or Pro Mini, ATmega328 (5V, 16 MHz)"

IMU.cpp: In function 'void getEstimatedAttitude()':

IMU.cpp:212:37: error: 'GYRO_SCALE' was not declared in this scope

   scale = (currentT - previousT) * (GYRO_SCALE * 65536);

                                     ^

Error compiling.

  This report would have more information with
  "Show verbose output during compilation"
  enabled in File > Preferences.

its comes out you have messed with imu source file.

what are your compiler preferences ? c99 etc.

i dont know..i am not an expert with the board
just tell me what to do now!!

Did you actually uncommented the proper board/ IMU and type of vehicle like Quad x/ tricopter/ hexacopter ? Also confirm multiple options in one category is not uncommented.

I had selected the cirius lite board ... I was able to upload the firmware and run the gui using the pl2303. . But I had to calibrate the escs so plugged it in again and now it is not communicating with the board. ..now there is no way I can calibrate the escs....
Has anybody else experienced this?