diff --git a/.vscode/launch.json b/.vscode/launch.json
index ad11897832..26f7e13d2d 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -141,54 +141,62 @@
             }
         },
         {
-            "name": "px4_fmu-v2 (jlink) ",
+            "name": "px4_fmu-v2/v3/v4 (jlink)",
+            "device": "STM32F427VI",
+            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F427.svd",
             "executable": "${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": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F427.svd",
-            "interface": "swd"
+            "interface": "swd",
+            "cwd": "${workspaceRoot}",
+            "internalConsoleOptions": "openOnSessionStart",
+            "preLaunchCommands": [
+                "source ${workspaceRoot}/platforms/nuttx/Debug/PX4",
+                "source ${workspaceRoot}/platforms/nuttx/Debug/NuttX",
+                "source ${workspaceRoot}/platforms/nuttx/Debug/ARMv7M",
+                "set mem inaccessible-by-default off",
+                "set print pretty",
+                "showtasks",
+            ]
         },
         {
             "name": "px4_fmu-v4pro (jlink)",
+            "device": "STM32F469VI",
+            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F469.svd",
             "executable": "${command:cmake.launchTargetPath}",
             "request": "launch",
             "type": "cortex-debug",
             "servertype": "jlink",
-            "device": "STM32F469VI",
-            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F469.svd",
-            "interface": "swd"
+            "interface": "swd",
+            "internalConsoleOptions": "openOnSessionStart",
+            "preLaunchCommands": [
+                "source ${workspaceRoot}/platforms/nuttx/Debug/PX4",
+                "source ${workspaceRoot}/platforms/nuttx/Debug/NuttX",
+                "source ${workspaceRoot}/platforms/nuttx/Debug/ARMv7M",
+                "set mem inaccessible-by-default off",
+                "set print pretty",
+                "showtasks",
+            ]
         },
         {
             "name": "px4_fmu-v5 (jlink)",
+            "device": "STM32F765VI",
+            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F7x5.svd",
             "executable": "${command:cmake.launchTargetPath}",
             "request": "launch",
             "type": "cortex-debug",
             "servertype": "jlink",
-            "device": "STM32F765VI",
-            "svdFile": "${workspaceRoot}/../cmsis-svd/data/STMicro/STM32F7x5.svd",
-            "interface": "swd"
-        },
+            "interface": "swd",
+            "internalConsoleOptions": "openOnSessionStart",
+            "preLaunchCommands": [
+                "source ${workspaceRoot}/platforms/nuttx/Debug/PX4",
+                "source ${workspaceRoot}/platforms/nuttx/Debug/NuttX",
+                "source ${workspaceRoot}/platforms/nuttx/Debug/ARMv7M",
+                "set mem inaccessible-by-default off",
+                "set print pretty",
+                "showtasks",
+            ]
+        }
     ]
-}
\ No newline at end of file
+}
diff --git a/.vscode/settings.json b/.vscode/settings.json
index c50c5626f6..a6d229884c 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -85,5 +85,6 @@
         "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
         "workbench.editor.highlightModifiedTabs": true,
         "workbench.settings.enableNaturalLanguageSearch": false,
-        "workbench.statusBar.feedback.visible": false
+        "workbench.statusBar.feedback.visible": false,
+        "git.ignoreLimitWarning": true
 }
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index 19adf8163f..8577c9323b 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -93,5 +93,14 @@
             "command": "killall gzserver",
             "problemMatcher": []
         },
+        {
+            "label": "mavlink shell",
+            "type": "shell",
+            "command": "./Tools/mavlink_shell.py",
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "problemMatcher": []
+        }
     ]
-}
\ No newline at end of file
+}