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OEM Image Setup
This article shows how OEMs can create images including custom applications and settings
The OEM changes are constant changes made by OEMs of Herelink that will be untouched by Over the Air updates provided to herelink systems. The changes include Boot Animation changes, System configurations, Android Applications, Android properties.
Linux
Prerequisites
Steps
- Download and unzip following files:
- 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
sudoto 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
Steps
- 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.
- Download and unzip following files:
- 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
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
sudoto 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
Example Config Change
- 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 commandadb pull /system/etc/system-control.telepathy-air.conf - Once pulled the file will contain information like bellow:
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# module on/off
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board_control_enabled = true
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d2d_tracker_enabled = true
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camera_control_enabled = true
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# board control
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board_system_id = 42
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# camera control
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video_stream_ip_address = 192.168.0.10
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camera_system_id = 42
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support_multiple_camera = true
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support_camera_capture = false
Copied!
- You can change the value of
board_system_idandcamera_system_idfields as per your requirement in your favourite editor. - Once done save this file and exit editor.
- Create a folder inside oem image called
etcusing commandsudo 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/<AppName>/<AppName>.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.json
- rc_service_config_optimus.ini
- mavlink-router.optimus.conf
- system-control.optimus.conf
Last modified 1yr ago