When i learn the ArduPilot developers guide,I found many behaviors where the description did not match the code.
For example, in the AC_WPNav.cpp file, update_wpnav() should call the update_postion() function in the AC_PosControl.cpp file. The AC_PosControl.cpp calculates position, velocity and acceleration error returns targetlean angles through get_roll(), get_pitch(). But in fact, there is no corresponding function in the AC_PosControl.cppfile
In the update_wpnav() function, I don’t see how it calls the update_postion() function. The following figure shows the update_wpnav() function.
So I would like to ask if this situation is caused by a version mismatch between the ArduPilot developers guide and the latest code?