I read navigation.cpp from AP_Navigation library. I need to measure crosstrack of ArduRover measuring the current location (from GPS) with the desired point or path. Inside the code there is a crosstrack calculation. Somehow, I am not really understand what the code actually doing. 


Can someone explain to me the basic theory behind the crosstrack code in AP_Navigation.h ? I still a beginner in this DIY drone.  

Your explanation is much appreciated! Thanks...

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