2001 audi s4 (p0563 and gear selector turns red on dash)
 

I have a 2001 audi s4 i bought a year ago. I drove the car to ohio and back, and it has yet to have a problem to now. It was making a ticking noise so i took a look at my axles one had a ripped boat so i replaced the axle. But it still makes the noise now coming home i was on a hill and when i gave it gas to go, it went, and then felt like the car dropped to the ground. The gear selector turned red, and the battery light came on. when i got home the car throw a cel with a p0563 code now the battery wont hold a charge at all since. It seems that theres a ticking noise from my motor but it goes away when i clear the code but if i give it a little gas or hold it at a low rpm the code comes back.

Anyone have this problem or something similar?

Alternator failed.