Some explication about ArduRover

People, I m new in all this tematics and I m doing a thesis using APMrover2 and I don’t know nothing about that, by this I need some help from you. I need some explication whit detail of that code. Thanks

If you go to the Docs you can read about the different specifics of Rover, in terms of usability. If you need to know about how the code achieves such features you’re likely going to have to learn the code yourself.

Yes, I know I need to learn the code be myself, but I don’t heve time and I need do some modification to yaw variable and I don’t find it