@Moderator Thank you for your timely response

I understand that the SDK uses that method to preserve proprietary features, but if one does not need those features, does the VOXL 2 bootloader allow for loading custom images into the "boot" partition? The device shouldn't care how the image is built, and so I mainly ask about the feasibility of flashing unsigned images (regardless of how they were built) to the "boot", "rootfs", and "user" partitions with something like fastboot.

Does the VOXL2 come with Secure Boot enabled? I.e. can I take an upstream kernel from kernel.org and simply append the Device Tree Blob from the ModalAI SDK GitHub to generate a bootable image loaded via fastboot? Do I need either a special unlock of the device or proprietary software components to boot the device if I do not need the user-space flight/camera features? I am comparing to the Linaro open-source option for a Thundercomm RB5, where I can load a custom ABL and kernel without signing images. Is there a similar option for the VOXL2, as it has piqued our interest for its SWAP advantages?

Thank you