OEM Image Setup

Linux

Prerequisites：Android-tools：https://developer.android.com/studio/releases/platform-toolsStep

  • Download and unzip following files:

  • simg2img](https://herelinkfw.cubepilot.org/tools/simg2img_linux.zip)

  • img2simg](https://herelinkfw.cubepilot.org/tools/img2simg_linux.zip)

  • Remote Unit: oem_ru_base.img​

  • Air Unit: oem_au_base.img​

  • Ensure that you select the base image depending upon which unit you are modifying.

  • Download and extract zips into same directory.

  • Now to generate ext4fs image from the sparse image (.img) downloaded above do ./simg2img_mac oem_au_base.img raw_oem_au_base.img

  • Create a mount point directory using mkdir oem

  • Mount the image using mount raw_oem_au_base.img oem

  • Now you should be able to modify files inside the mount directory.

  • You need to use sudo to be able to do any writes the files inside the mount point.

  • Once you have made your changes, you need to unmount your drive using command sudo umount oem

  • Afterwards convert the ext4fs image back to android sparse image using command ./img2simg raw_oem_au_base.img oem_au.img

  • Now you may flash this image into Herelink Air Unit, by putting it under bootloader using command adb reboot bootloader

  • And finally to flash to image run command fastboot flash oem oem_au.img

  • Check example below for a sample modification.

MacOS

Prerequisites：Homebrew：https://brew.sh/Android：https://developer.android.com/studio/releases/platform-toolsStep

  • Setup osxfuse in your system using brew cask install osxfuse, this will require rebooting your system proceed and do that。

  • Follow the steps here to install fuse-ext2. This will allow you to mount ext4fs we will be generating.https://github.com/alperakcan/fuse-ext2#macos

  • Download and unzip following files:

    • simg2img：https://herelinkfw.cubepilot.org/tools/simg2img_mac.zip

    • img2simg：https://herelinkfw.cubepilot.org/tools/img2simg_mac.zip

    • Remote Unit：https://herelinkfw.cubepilot.org/tools/oem_ru_base.img

    • Air Unit：https://herelinkfw.cubepilot.org/tools/oem_au_base.img

  • Ensure that you select the base image depending upon which unit you are modifying.

  • Download and extract zips into same directory.

  • Now to generate ext4fs image from the sparse image (.img) downloaded above do./simg2img_mac oem_au_base.img raw_oem_au_base.img

  • Create a mount point directory usingmkdir oem

  • Mount the image using

  • fuse-ext2 raw_oem_au_base.img oem -o rw+

  • Now you should be able to modify files inside the mount directory.

  • You need to use sudo to be able to do any writes the files inside the mount point.

  • Once you have made your changes, you need to unmount your drive using commandsudo umount oem

  • Afterwards convert the ext4fs image back to android sparse image using command./img2simg raw_oem_au_base.img oem_au.img

  • Now you may flash this image into Herelink Air Unit, by putting it under bootloader using command

adb reboot bootloader

  • And finally to flash to image run command：fastboot flash oem oem_au.img

Example：

  • In the following example we change the system_id used by herelink air unit for board specific messages.

  • Most config files are located in you unit at /system/etcin the following example we will pull config using command adb pull /system/etc/system-control.telepathy-air.conf

  • Once pulled the file will contain information like bellow:

# module on/offboard_control_enabled = trued2d_tracker_enabled = truecamera_control_enabled = true# board controlboard_system_id = 42# camera controlvideo_stream_ip_address = 192.168.0.10camera_system_id = 42support_multiple_camera = truesupport_camera_capture = false

  • You can change the value of board_system_id and camera_system_id fields as per your requirement in your favourite editor.

  • Once done save this file and exit editor.

  • Create a folder inside oem image called etc using command sudo mkdir oem/etc

  • Copy file using command sudo cp system-control.telepathy-air.conf oem/etc/

  • Continue to unmount the image and flashing into the unit as described in above steps.

Example App Change

  • In the following example we override the installed QGroundcontrol App.

  • A new OEM app can be installed under /oem/app//.apk

  • For installing your custom version of QGroundcontrol, ensure that you started with https://github.com/cubepilot/qgroundcontrol-herelink as your base.

  • After building the project, create a folder QgroundControl

  • Copy .apk file cp -r build-qgroundcontrol-Android_for_armeabi_v7a_Clang_Qt_5_11_0_for_Android_armv72_fd6ff4-Debug/android-build/build/outputs/apk/android-build-debug.apk QGroundControl/QGroundControl.apk

  • Also create a lib directory QGroundControl/lib

  • Copy libraries cp -r build-qgroundcontrol-Android_for_armeabi_v7a_Clang_Qt_5_11_0_for_Android_armv72_fd6ff4-Debug/android-build/libs/armeabi-v7a/ QGroundControl/lib/arm/

  • Finally move QgroundControl directory to oem image sudo cp -r QGroundControl oem/app/QGroundControl

  • Do ensure you have already created app directory inside oem image if not already done sudo mkdir oem/app

  • Continue to unmount the image and flashing into the unit as described in above steps.

Extra OEM Files：

  • On boot several files are setup for use, and you can override these files

  • These files can exist in (searched in this order)

/data/oem/etc - user default - wiped on factory reset/oem/etc - oem default/system/etc - system default

  • files that can be overridden (optimus is the internal GCS name, telepathy-air is the air unit (ro.product.device))

lampsignal-telepathy-air.jsonrc_service_config_optimus.inimavlink-router.optimus.confsystem-control.optimus.confPreviousInstalling a custom appNextGenerate a bug report

PreviousInstalling a custom appNextGenerate a bug report

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