{
    "version": "0.2.0",
    "configurations": [
        {
            "name": "SITL 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,
            "linux": {
                "MIMode": "gdb",
                "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",
                "setupCommands": [
                    {
                        "text": "pro hand -p true -s false -n false SIGCONT",
                    }
                ]
            }
        },
        {
            "name": "SITL 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,
            "preLaunchTask": "jmavsim",
            "postDebugTask": "jmavsim kill",
            "linux": {
                "MIMode": "gdb",
                "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",
                "setupCommands": [
                    {
                        "text": "pro hand -p true -s false -n false SIGCONT",
                    }
                ]
            }
        },
        {
            "name": "SITL gazebo 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,
            "preLaunchTask": "gazebo iris",
            "postDebugTask": "gazebo kill",
            "linux": {
                "MIMode": "gdb",
                "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",
                "setupCommands": [
                    {
                        "text": "pro hand -p true -s false -n false SIGCONT",
                    }
                ]
            }
        },
        {
            "name": "px4_fmu-v2 (jlink) ",
            "executable": "${command:cmake.launchTargetPath}",
            "request": "launch",
            "type": "cortex-debug",
            "servertype": "jlink",
            "device": "STM32F427VI",
            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F427.svd",
            "interface": "swd"
        },
        {
            "name": "px4_fmu-v3 (jlink)",
            "executable": "${command:cmake.launchTargetPath}",
            "request": "launch",
            "type": "cortex-debug",
            "servertype": "jlink",
            "device": "STM32F427VI",
            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F427.svd",
            "interface": "swd"
        },
        {
            "name": "px4_fmu-v4 (jlink)",
            "executable": "${command:cmake.launchTargetPath}",
            "request": "launch",
            "type": "cortex-debug",
            "servertype": "jlink",
            "device": "STM32F427VI",
            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F427.svd",
            "interface": "swd"
        },
        {
            "name": "px4_fmu-v4pro (jlink)",
            "executable": "${command:cmake.launchTargetPath}",
            "request": "launch",
            "type": "cortex-debug",
            "servertype": "jlink",
            "device": "STM32F469VI",
            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F469.svd",
            "interface": "swd"
        },
        {
            "name": "px4_fmu-v5 (jlink)",
            "executable": "${command:cmake.launchTargetPath}",
            "request": "launch",
            "type": "cortex-debug",
            "servertype": "jlink",
            "device": "STM32F765VI",
            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F7x5.svd",
            "interface": "swd"
        },
    ]
}