Thank you for your answer. This is now very clear.
I have a question that is a little off subject. I am looking to understand rover software code. I can write simple arduino and c++ programs however my programming skills are not great however I want to attempt the following.
Do you know of any tutorials that really explain in detail the ardurover code. I need an overview of how the main elements of the code work.
Also I am looking to find a cut down version of ardurover I want to find the code for a gps waypoint driving rover. I do not need endless possibilities as I only want the rover to drive between waypoints with a gps and compass and to be able to pivot turn and do 180 degree turns at each WP. I ie I want to the rover to navigate a simple grid.
The code can be reasonable simple as I do not need to use the code on may chassis or many different motor controllers etc etc. I will then develop it as a learning exercise. I would like to do this as I think understanding ardupilot would be a major task and will take a long time before I got anything that I can use for my own projects
If you know of something suitable then I would appreciate a link so I can take a look
Of course I will continue with ardurover on my other projects