Hi Mike,
You mentioned that "A reason why ELF works for seL4test and not for camkes-arm-vm is potentially because the Elfloader doesn't get started in monitor mode and is unable to start the kernel in Hyp mode. " What I don't understand about that is that I have a couple of images that I built back in August 2018 that still work just fine on this device when I use bootelf to boot them. seL4 starts up and drops to the VM and I can log into the VM. Ok.
Tegra124 (Jetson TK1) # fatload mmc 1 ${loadaddr} capdl-loader-image-arm-tk1 What is loadaddr set to? Does it fail with loadaddr set to 0x81000000?
Tegra124 (Jetson TK1) # bootelf ${loadaddr} ## Starting application at 0x817f0000 ... When trying to load an ELF with bootelf, I'm not sure what different versions of U-Boot do with regards to giving you an error if it unpacks the ELF over the top of the ELF. How does elfloading work with a loadaddr of around 0x84000000?
Which Jetson-tk1 board are you using?