libraries for receiver and arduino 2

Boys missing two days and two Arduino launch window from turning it into a Frisbie wired interconnected.
After 22 hours have not yet managed to read the library PinChangeInt.h to my arduino someone could help me not to take off 2 Arduino?

Thanks in advance I attach the code below

#include <Servo.h>
#include <PinChangeInt.h>

//Declare Receiver Inputs to read channel signals
#define ESC_IN 8
#define ELEVATOR_IN 13
#define AILERON_IN 11
//Declare bit-flags to indicate if which channels have new signals
#define ESC_FLAG 1
#define ELEVATOR_FLAG 2
#define AILERON_FLAG 4
//Holds update flags defined above
volatile uint8_t bUpdateFlagsShared;
//Shared variables are updated by the ISR
volatile uint16_t ESC_IN_SHARED, ELEVATOR_IN_SHARED, AILERON_IN_SHARED;
//These are used to to to record rising edge of a pulse
uint32_t ESC_START, ELEVATOR_START, AILERON_START;
//Declare servos
Servo esc, elevator, aileron;

void setup(){
Serial.begin(9600);
//Attach Servos
esc.attach(7);
elevator.attach(12);
aileron.attach(10);
//Attaches interrupts using PinChangeInt library
PCintPort::attachInterrupt(ESC_IN, escRead, CHANGE);
PCintPort::attachInterrupt(ELEVATOR_IN, elevatorRead, CHANGE);
PCintPort::attachInterrupt(AILERON_IN, aileronRead, CHANGE);
}
//void loop(){}

void loop(){
//local variables to hold channel inputs
static uint16_t ESC, AILERON, ELEVATOR;
//local updated flags
static uint8_t bUpdateFlags;
//check shared flags to see if we have a new signal
if(bUpdateFlagsShared){
noInterrupts();
bUpdateFlags = bUpdateFlagsShared;
if(bUpdateFlags & ESC_FLAG){
ESC = ESC_IN_SHARED;
}
if(bUpdateFlags & ELEVATOR_FLAG){
ELEVATOR = ELEVATOR_IN_SHARED;
}
if(bUpdateFlags & AILERON_FLAG){
AILERON = AILERON_IN_SHARED;
}

bUpdateFlagsShared = 0;
interrupts();

}
if(bUpdateFlags & ESC_FLAG){
esc.writeMicroseconds(ESC);
}
if(bUpdateFlags & ELEVATOR_FLAG){
elevator.writeMicroseconds(ELEVATOR);
}
if(bUpdateFlags & AILERON_FLAG){
aileron.writeMicroseconds(AILERON);
}
bUpdateFlags = 0;
}

void escRead(){
if(digitalRead(ESC_IN) == HIGH){
ESC_START = micros(10);
}else{
ESC_IN_SHARED = (uint16_t) (micros() - ESC_START);
bUpdateFlagsShared |= ESC_FLAG;
}
}

void elevatorRead(){
if(digitalRead(ELEVATOR_IN) == HIGH){
ELEVATOR_START = micros(10);
}else{
ELEVATOR_IN_SHARED = (uint16_t) (micros() - ELEVATOR_START);
bUpdateFlagsShared |= ELEVATOR_FLAG;
}
}

void aileronRead(){
if(digitalRead(AILERON_IN) == HIGH){
AILERON_START = micros(10);
}else{
AILERON_IN_SHARED = (uint16_t) (micros() - AILERON_START);
bUpdateFlagsShared |= AILERON_FLAG;
}
}