How to debug using Pixhawk cube orange STM32?

Hello

I want to debug Pixhawk cube orange using STM32 but I couldn’t find enough resources. Has anyone experienced this before? Can you help me?

I want to install bootloader on Pixhawk cube orange. In this way, I think that both software update and debug can be done from the micro USB port. Is there anyone working on this issue and can guide me?