diff --git a/platforms/nuttx/Debug/launch.json.in b/platforms/nuttx/Debug/launch.json.in
index 1f2b03cd83..eff3e90744 100644
--- a/platforms/nuttx/Debug/launch.json.in
+++ b/platforms/nuttx/Debug/launch.json.in
@@ -21,6 +21,24 @@
                 "set print pretty",
             ]
         },
+        {
+            "name": "stlink (@PX4_BOARD@)",
+            "device": "@DEBUG_DEVICE@",
+            "svdFile": "@DEBUG_SVD_FILE_PATH@",
+            "executable": "${command:cmake.launchTargetPath}",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "stutil",
+            "cwd": "${workspaceFolder}",
+            "internalConsoleOptions": "openOnSessionStart",
+            "preLaunchCommands": [
+                "source ${workspaceFolder}/platforms/nuttx/Debug/PX4",
+                "source ${workspaceFolder}/platforms/nuttx/Debug/NuttX",
+                "source ${workspaceFolder}/platforms/nuttx/Debug/ARMv7M",
+                "set mem inaccessible-by-default off",
+                "set print pretty",
+            ]
+        },
         {
             "name": "blackmagic (@PX4_BOARD@)",
             "device": "@DEBUG_DEVICE@",