Waf documentation for ArduPilot (specifically ArduCopter)

I have read the BUILD.md documentation along with the relevant pages in the ArduPilot Development Site to figure out how exactly waf works in ArduPilot. I have went through the waf book but it is difficult to parse and get the semantics of the wscript. Does anyone have answers/documentations as to how exactly the libraries get linked and where in the wscript or ardupilotwaf the compilation occurs? (Specifically, when I run ./waf copter after the config)