diff --git a/.vscode/launch.json b/.vscode/launch.json
index 67792a7996..0ea7510522 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -164,6 +164,27 @@
                 "showtasks",
             ]
         },
+        {
+            "name": "Debug px4_fmu-v2/v3/v4 (blackmagic)",
+            "device": "STM32F427VI",
+            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F427.svd",
+            "executable": "${command:cmake.launchTargetPath}",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "bmp",
+            "BMPGDBSerialPort": "/dev/ttyACM0",
+            "interface": "swd",
+            "cwd": "${workspaceRoot}",
+            "internalConsoleOptions": "openOnSessionStart",
+            "preLaunchCommands": [
+                "source ${workspaceRoot}/platforms/nuttx/Debug/PX4",
+                "source ${workspaceRoot}/platforms/nuttx/Debug/NuttX",
+                "source ${workspaceRoot}/platforms/nuttx/Debug/ARMv7M",
+                "set mem inaccessible-by-default off",
+                "set print pretty",
+                "showtasks",
+            ]
+        },
         {
             "name": "Debug px4_fmu-v4pro (jlink)",
             "device": "STM32F469VI",