L1 Navigation control in GUIDED mode with GoTo Points


I’m flying a plane that is constantly receiving new goto points at a 4Hz rate that are always ~200 meters in front of the plane and could be slightly to the right or left of the heading. I’m using goto points in GUIDED mode as a form of position control, to demand the plane to fly to an exact position in real time. From my research, when a goto point is commanded, the current_location = previous_WP. With this logic, I expected the xtrack error to reset to 0 every time we command a new goto point, but I’m oberserving constant large xtrack errors in the 40-70 range in SITL. Can someone explain how the xtrack error is calculated in GUIDED mode and how it is used? Why are they not resetting to 0 or converging?