To be able to debug the Crazyflie using JTAG you will need to solder the extra connector that is packaged with the Crazyflie on pins 1-10 on the EXT connector <insert image>. You will also need a JTAG debugger. The virtual machine is pre-configured to use the BusBlaster from DangerousPrototypes but can be set-up with any JTAG device that openOCD supports.

In order to start debugging do the followning:

• In the targets view double-click debug to build the firmware and then flash to flash it
• Start the openOCD backend by pressing the small arrow on the External Tools button and selecting openOCD server
• Start gdb by pressing the small arrow in the Debug button and selecting crazyflie gdb
• Eclipse will now switch to the debugging interface and you are ready to debug