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OEM Image Setup
This article shows how OEMs can create images including custom applications and settings

Linux

Prerequisites:
Android-tools:https://developer.android.com/studio/releases/platform-tools
Step
  • 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-tools
Step
  • 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 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 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
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/off
board_control_enabled = true
d2d_tracker_enabled = true
camera_control_enabled = true
# board control
board_system_id = 42
# camera control
video_stream_ip_address = 192.168.0.10
camera_system_id = 42
support_multiple_camera = true
support_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.json
rc_service_config_optimus.ini
mavlink-router.optimus.conf
system-control.optimus.conf
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Linux
MacOS
Example App Change
Extra OEM Files: