Editing the code with VSCode

VSCode is free and available on all desktop platforms: Windows, Linux, MacOS. VSCode can be downloaded from here.

It bundles all tools need to build ArduPilot: C/C++ support, python support, git support, and debugging support.

For Windows 10 users, the Remote - WSL extension lets you use the Windows Subsystem for Linux (WSL) as your full-time development environment right from VS Code: https://docs.microsoft.com/en-us/windows/wsl/tutorials/wsl-vscode

For users that might want to collaborate on code using VSCode, VSCode provides a Live Share utility.

ArduPilot VSCode Extension

There is an official ArduPilot VSCode extension that creates tasks on demand. The marketplace page for the extension is here. A video demonstrating using the extension is here.