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ardupilot/Tools/debug/gdb-openocd.init

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# copy this file to .gdbinit in your Firmware tree
# this sets up gdb to use openocd. You must start openocd first
target extended-remote :3333
set mem inaccessible-by-default off
set print pretty
b AP_HAL::panic
b HardFault_Handler
b chSysHalt
set confirm off