From 71f381ada98331da14767f8083ab8e0afea290ef Mon Sep 17 00:00:00 2001
From: oneWayOut <cia120@163.com>
Date: Wed, 2 Sep 2020 00:05:05 +0800
Subject: [PATCH] add gazebo VTOL tiltrotor debug target for VSCode SITL

---
 .vscode/tasks.json                       | 40 +++++++++++++++++++
 platforms/posix/Debug/launch_sim.json.in | 49 ++++++++++++++++++++++++
 2 files changed, 89 insertions(+)

diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index 0811756034..80a40d31f7 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -249,6 +249,46 @@
                 }
             ]
         },
+        {
+            "label": "gazebo tiltrotor",
+            "type": "shell",
+            "dependsOn": "gazebo build",
+            "options": {
+                "cwd": "${workspaceRoot}",
+                "env": {
+                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
+                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
+                    "PX4_SIM_SPEED_FACTOR": "1"
+                }
+            },
+            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/tiltrotor.world",
+            "isBackground": true,
+            "presentation": {
+                "echo": true,
+                "reveal": "never",
+                "focus": false,
+                "panel": "shared",
+                "showReuseMessage": false,
+                "clear": true
+            },
+            "problemMatcher": [
+                {
+                    "pattern": [
+                        {
+                            "regexp": ".",
+                            "file": 1,
+                            "location": 2,
+                            "message": 3
+                        }
+                    ],
+                    "background": {
+                        "activeOnStart": true,
+                        "beginsPattern": ".",
+                        "endsPattern": ".",
+                    }
+                }
+            ]
+        },
         {
             "label": "gazebo client",
             "type": "shell",
diff --git a/platforms/posix/Debug/launch_sim.json.in b/platforms/posix/Debug/launch_sim.json.in
index 762be4e3f7..41b2d1e479 100644
--- a/platforms/posix/Debug/launch_sim.json.in
+++ b/platforms/posix/Debug/launch_sim.json.in
@@ -197,6 +197,55 @@
                 ]
             }
         },
+        {
+            "name": "SITL (gazebo tiltrotor)",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${command:cmake.launchTargetPath}",
+            "args": [
+                "${workspaceFolder}/ROMFS/px4fmu_common",
+                "-s",
+                "etc/init.d-posix/rcS",
+                "-t",
+                "${workspaceFolder}/test_data"
+            ],
+            "stopAtEntry": false,
+            "cwd": "${command:cmake.buildDirectory}/tmp",
+            "environment": [
+                {
+                    "name": "PX4_SIM_MODEL",
+                    "value": "tiltrotor"
+                }
+            ],
+            "externalConsole": false,
+            "preLaunchTask": "gazebo tiltrotor",
+            "postDebugTask": "gazebo kill",
+            "linux": {
+                "MIMode": "gdb",
+                "externalConsole": false,
+                "setupCommands": [
+                    {
+                        "description": "Enable pretty-printing for gdb",
+                        "text": "-enable-pretty-printing",
+                        "ignoreFailures": true
+                    },
+                    {
+                        "description": "PX4 ignore wq signals",
+                        "text": "handle SIGCONT nostop noprint nopass",
+                        "ignoreFailures": true
+                    }
+                ]
+            },
+            "osx": {
+                "MIMode": "lldb",
+                "externalConsole": true,
+                "setupCommands": [
+                    {
+                        "text": "pro hand -p true -s false -n false SIGCONT",
+                    }
+                ]
+            }
+        },
         {
             "name": "SITL (jmavsim iris)",
             "type": "cppdbg",