Debugging on target hardware NOT SITL

Hello All,

I am new to ArduPilot and I am trying to get used to the environment. I would like to connect to my target with a debugger and be able to use source level debugging techniques from the VSCode IDE.

My hardware is an Orange Cube and I am running ArduPilot v 4.1.
My development system is Win10.

I am building the image with waf. I have configured for the debug build and built without errors.
I have a USB connection to the target.

I have checked the debugging section on the ArduPilot webpage, but not much info about the type connection for hardware use.
Can anyone help with suggestions or pointer to a website to help me with getting a debug connection to my target established.

Any help is appreciated.

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