Hi There! I am working on PX4 and have a couple of questions on my mind. I was wondering if the community could help me out with them. There has been similar questions asked before but they did not receive a reply .
What mechanisms do you use to debug PX4 code? What is your build system? For example, I use Ubuntu+Windows machine and mostly use printf-like statements to debug the low level code.
Mathematical algorithms like nested control loops or EKF are built from the ECL  library. Is there a documentation on how to work with it? Modify it? The link on github seems to be broken. I was also wondering how ECL library is tested. Does anyone use Matlab or Mathematica to test whether the math works or not before deploying it?
Is there a documentation of the build system? It’s a combination of ninja, GNU Make and cmake. I do have a little bit of knowledge of what it is doing but a guide explaining the inner-working from a high level perspective would make development progress faster/smoother.
Any discussion of the points above is most welcome! Thanks!