环境

win11 + vscode 1.81.0
wsl2
ardupilot

利用gdb工具在vsCode中实现 Ardupilot SITL的断点调试

优点：可在vsCode中实现断点调试。
参考文献：https://ardupilot.org/dev/docs/debugging-with-gdb-using-vscode.html

• 安装gdb工具
  打开wsl，进入ardupilot目录
  使用vscode中的终端安装： bash sudo apt install gdb

• 设置 SITL：./waf configure --debug
• 设置 VSCode Debugger
  Run ~> Add Configuration ~> 编辑launch.json：

    "configurations": [{"name": "(gdb) Attach Copter","type": "cppdbg","request": "attach","program": "${workspaceFolder}/build/sitl/bin/arducopter","MIMode": "gdb","setupCommands": [{"description": "Enable pretty-printing for gdb","text": "-enable-pretty-printing","ignoreFailures": true},{"description": "Set Disassembly Flavor to Intel","text": "-gdb-set disassembly-flavor intel","ignoreFailures": true}]},

• 运行仿真SITL：sim_vehicle.py -v ArduCopter -f quad --console --map -D
• 将代码和运行中的二进制实例进行 attaching：
  Run ~> Start Debugging ~> 选择对应的实例，如下图：
  
• 这样就可以进行断点调试了：
  
• 可以利用断点调试查看飞控逻辑的控制流、信息流、函数调用逻辑等等…