{
        "version": "0.2.0",
        "configurations": [
            {
                "name": "(gdb) Launch (shell)",
                "type": "cppdbg",
                "request": "launch",
                "program": "${command:cmake.launchTargetPath}",
                "args": [
                    "${workspaceFolder}/ROMFS/px4fmu_common",
                    "-s", "etc/init.d-posix/rcS",
                    "-t", "${workspaceFolder}/test_data"
                ],
                "stopAtEntry": false,
                "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
                "environment": [{"name": "PX4_SIM_MODEL", "value": "shell"}],
                "externalConsole": false,
                "MIMode": "gdb",
                "setupCommands": [
                    {
                        "description": "Enable pretty-printing for gdb",
                        "text": "-enable-pretty-printing",

                        "ignoreFailures": true,

                        "text": "handle SIGCONT nostop noprint nopass",
                    }
                ]
            },
            {
                "name": "(gdb) Launch (jmavsim iris)",
                "type": "cppdbg",
                "request": "launch",
                "program": "${command:cmake.launchTargetPath}",
                "args": [
                    "${workspaceFolder}/ROMFS/px4fmu_common",
                    "-s", "etc/init.d-posix/rcS",
                    "-t", "${workspaceFolder}/test_data"
                ],
                "stopAtEntry": false,
                "cwd": "${workspaceFolder}/build/px4_sitl_default/tmp",
                "environment": [{"name": "PX4_SIM_MODEL", "value": "iris"}],
                "externalConsole": false,
                "MIMode": "gdb",
                "setupCommands": [
                    {
                        "description": "Enable pretty-printing for gdb",
                        "text": "-enable-pretty-printing",

                        "ignoreFailures": true,

                        "text": "handle SIGCONT nostop noprint nopass",

                    }
                ],
                "preLaunchTask": "jmavsim"
            },
            {
                "name": "(jlink) px4_fmu-v2",
                "cwd": "${workspaceRoot}",
                "executable": "${workspaceRoot}/build/px4_fmu-v2_default/px4_fmu-v2_default.elf",
                "request": "launch",
                "type": "cortex-debug",
                "servertype": "jlink",
                "device": "STM32F427VI",
                //"svdFile": "",
                "interface": "swd",
                "ipAddress": null,
                "serialNumber": null
            },
        ]
    }