diff --git a/target/linux/mvebu/cortexa53/base-files/etc/board.d/05_compat_version b/target/linux/mvebu/cortexa53/base-files/etc/board.d/05_compat_version
new file mode 100644
index 0000000000..5a8f31e6a7
--- /dev/null
+++ b/target/linux/mvebu/cortexa53/base-files/etc/board.d/05_compat_version
@@ -0,0 +1,15 @@
+. /lib/functions.sh
+. /lib/functions/uci-defaults.sh
+
+board_config_update
+
+case "$(board_name)" in
+	methode,udpu|\
+	methode,edpu)
+		ucidef_set_compat_version "2.0"
+	;;
+esac
+
+board_config_flush
+
+exit 0
diff --git a/target/linux/mvebu/cortexa53/base-files/etc/init.d/bootcount b/target/linux/mvebu/cortexa53/base-files/etc/init.d/bootcount
new file mode 100755
index 0000000000..6ebf8eddf6
--- /dev/null
+++ b/target/linux/mvebu/cortexa53/base-files/etc/init.d/bootcount
@@ -0,0 +1,12 @@
+#!/bin/sh /etc/rc.common
+
+START=99
+
+boot() {
+	case $(board_name) in
+	methode,udpu|\
+	methode,edpu)
+		fw_setenv bootcount 0
+	;;
+	esac
+}
diff --git a/target/linux/mvebu/cortexa53/base-files/lib/preinit/82_uDPU b/target/linux/mvebu/cortexa53/base-files/lib/preinit/82_uDPU
deleted file mode 100644
index 1c72d0fe66..0000000000
--- a/target/linux/mvebu/cortexa53/base-files/lib/preinit/82_uDPU
+++ /dev/null
@@ -1,49 +0,0 @@
-#
-# Copyright (C) 2014-2019 OpenWrt.org
-# Copyright (C) 2016 LEDE-Project.org
-#
-
-preinit_mount_udpu() {
-	. /lib/functions.sh
-	. /lib/upgrade/common.sh
-
-	case $(board_name) in
-	methode,udpu|\
-	methode,edpu)
-		# Check which device is detected
-		[ -b "/dev/mmcblk0" ] && mmcdev="/dev/mmcblk0" || mmcdev="/dev/mmcblk1"
-
-		if [ -b "${mmcdev}p4" ]; then
-			mkdir /misc
-			mount -o compress_algorithm=zstd -t f2fs ${mmcdev}p4 /misc
-			[ -f "/misc/$BACKUP_FILE" ] && {
-				echo "- Restoring configuration files -"
-				tar xzf "/misc/$BACKUP_FILE" -C /
-				rm -f "/misc/$BACKUP_FILE"
-				sync
-			}
-			[ -f "/misc/firmware/recovery.itb" ] && {
-					echo "- Updating /recovery partition -"
-					mkfs.ext4 -q ${mmcdev}p2 | echo y &> /dev/null
-					mkdir -p /tmp/recovery
-					mount ${mmcdev}p2 /tmp/recovery
-					cp /misc/firmware/recovery.itb /tmp/recovery
-					[ -f "/misc/firmware/boot.scr" ] && \
-						cp /misc/firmware/boot.scr /tmp/recovery
-					sync
-					umount /tmp/recovery
-					rm -rf /tmp/recovery
-
-					# Replace previous backup with the new one
-					[ -d "/misc/firmware_old" ] && rm -rf /misc/firmware_old
-					[ -d "/misc/firmware" ] && mv /misc/firmware /misc/firmware_old
-				}
-		fi
-
-		# Legacy support - if rootfs was booted, instruct u-boot to keep the current root dev
-		[ "$(df | grep /dev/root)" ] && fw_setenv root_ok '2'
-	;;
-	esac
-}
-
-boot_hook_add preinit_main preinit_mount_udpu
diff --git a/target/linux/mvebu/cortexa53/base-files/lib/upgrade/platform.sh b/target/linux/mvebu/cortexa53/base-files/lib/upgrade/platform.sh
index f77f15ecab..7ddb516762 100755
--- a/target/linux/mvebu/cortexa53/base-files/lib/upgrade/platform.sh
+++ b/target/linux/mvebu/cortexa53/base-files/lib/upgrade/platform.sh
@@ -35,7 +35,37 @@ platform_do_upgrade() {
 		;;
 	methode,udpu|\
 	methode,edpu)
-		platform_do_upgrade_uDPU "$1"
+		[ "$(rootfs_type)" = "tmpfs" ] && {
+			local firmware_active="$(fw_printenv -n bootactive)"
+			case "$firmware_active" in
+			1)
+				CI_KERNPART="kernel_2"
+				CI_ROOTPART="rootfs_2"
+				fw_setenv bootactive 2
+				;;
+			2)
+				CI_KERNPART="kernel_1"
+				CI_ROOTPART="rootfs_1"
+				fw_setenv bootactive 1
+				;;
+			esac
+		}
+
+		local root="$(cmdline_get_var root)"
+		case "$root" in
+		/dev/mmcblk*p2)
+			CI_KERNPART="kernel_2"
+			CI_ROOTPART="rootfs_2"
+			fw_setenv bootactive 2
+			;;
+		/dev/mmcblk*p4)
+			CI_KERNPART="kernel_1"
+			CI_ROOTPART="rootfs_1"
+			fw_setenv bootactive 1
+			;;
+		esac
+
+		emmc_do_upgrade "$1"
 		;;
 	*)
 		default_do_upgrade "$1"
@@ -54,7 +84,7 @@ platform_copy_config() {
 		;;
 	methode,udpu|\
 	methode,edpu)
-		platform_copy_config_uDPU
+		emmc_copy_config
 		;;
 	esac
 }
diff --git a/target/linux/mvebu/cortexa53/base-files/lib/upgrade/uDPU.sh b/target/linux/mvebu/cortexa53/base-files/lib/upgrade/uDPU.sh
deleted file mode 100644
index a8d803ff59..0000000000
--- a/target/linux/mvebu/cortexa53/base-files/lib/upgrade/uDPU.sh
+++ /dev/null
@@ -1,162 +0,0 @@
-udpu_check_emmc() {
-# uDPU uses combined ext4 and f2fs partitions.
-# partition layout:
-#	1. boot	(ext4)
-#	2. recovery  (ext4)
-#	3. rootfs (f2fs)
-#	4. misc (f2fs)
-
-	# Check which device is available, depending on the board revision
-	if [ -b "/dev/mmcblk1" ]; then
-		emmc_dev=/dev/mmcblk1
-	elif [ -b "/dev/mmcblk0" ]; then
-		emmc_dev=/dev/mmcblk0
-	else
-		echo "Cannot detect eMMC flash, aborting.."
-		exit 1
-	fi
-}
-
-udpu_part_prep() {
-	 if grep -q "$1" /proc/mounts; then
-		mounted_part="$(grep -m 1 $1 /proc/mounts | awk '{print $2}')"
-		umount "$mounted_part"
-		grep -woq "$mounted_part" /proc/mounts && umount -l "$mounted_part"
-	fi
-}
-
-udpu_do_part_check() {
-	local emmc_parts="1 2 3 4"
-	local part_valid="1"
-
-	# Check if the block devices exist
-	for num in ${emmc_parts}; do
-		[ ! -b ${emmc_dev}p${num} ] && part_valid="0"
-	done
-
-	# If partitions are missing create a new partition table
-	if [ "$part_valid" != "1" ]; then
-		printf "Invalid partition table, creating a new one\n"
-		printf "o\nn\np\n1\n\n+256M\nn\np\n2\n\n+256M\nn\np\n3\n\n+1536M\nn\np\n\n\nw\n" | fdisk -W always $emmc_dev  > /dev/null 2>&1
-
-		# Format the /misc part right away as we will need it for the firmware
-		printf "Formating /misc partition, this make take a while..\n"
-		udpu_part_prep ${emmc_dev}p4
-		if mkfs.f2fs -q -l misc -O extra_attr,compression ${emmc_dev}p4; then
-			printf "/misc partition formated successfully\n"
-		else
-			printf "/misc partition formatting failed\n"
-		fi
-
-		udpu_do_initial_setup
-	else
-		printf "Partition table looks ok\n"
-	fi
-}
-
-udpu_do_misc_prep() {
-	if ! grep -woq /misc /proc/mounts; then
-		mkdir -p /misc
-
-		# If the mount fails, try to reformat partition
-		# Leaving possiblity for multiple iterations
-		if ! mount ${emmc_dev}p4 /misc; then
-			printf "Error while mounting /misc, trying to reformat..\n"
-
-			format_count=0
-			while [ "$format_count" -lt "1" ]; do
-				udpu_part_prep ${emmc_dev}p4
-				mkfs.f2fs -q -l misc -O extra_attr,compression ${emmc_dev}p4
-				if ! mount ${emmc_dev}p4 /misc; then
-					umount -l /misc
-					printf "Failed while mounting /misc\n"
-					format_count=$((format_count +1))
-				else
-					printf "Mounted /misc successfully\n"
-					break
-				fi
-			done
-		fi
-	fi
-}
-
-udpu_do_initial_setup() {
-	# Prepare /recovery parition
-	udpu_part_prep ${emmc_dev}p2
-	mkfs.ext4 -qF ${emmc_dev}p2 2>&1 /dev/null
-
-	# Prepare /boot partition
-	udpu_part_prep ${emmc_dev}p1
-	mkfs.ext4 -qF ${emmc_dev}p1 2>&1 /dev/null
-
-	# Prepare /root partition
-	printf "Formating /root partition, this may take a while..\n"
-	udpu_part_prep ${emmc_dev}p3
-	mkfs.f2fs -q -l rootfs -O extra_attr,compression ${emmc_dev}p3 && printf "/root partition reformated\n"
-}
-
-udpu_do_regular_upgrade() {
-	# Clean /boot partition - mfks.ext4 is not available in chroot
-	grep -woq /boot /proc/mounts && umount /boot
-	mkdir -p /tmp/boot
-	mount ${emmc_dev}p1 /tmp/boot
-	rm -rf /tmp/boot/*
-
-	# Clean /root partition - mkfs.f2fs is not available in chroot
-	grep -woq /dev/root /proc/mounts && umount /
-	mkdir -p /tmp/rootpart
-	mount ${emmc_dev}p3 /tmp/rootpart
-	rm -rf /tmp/rootpart/*
-}
-
-platform_do_upgrade_uDPU() {
-	udpu_check_emmc
-
-	# Prepare and extract firmware on /misc partition
-	udpu_do_misc_prep
-
-	[ -f "/misc/firmware" ] && rm -r /misc/firmware
-	mkdir -p /misc/firmware
-	tar xzf "$1" -C /misc/firmware/
-
-	udpu_do_regular_upgrade
-
-	printf "Updating /boot partition\n"
-	if tar xzf /misc/firmware/boot.tgz -C /tmp/boot; then
-		printf "/boot partition updated successfully\n"
-	else
-		printf "/boot partition update failed\n"
-	fi
-	sync
-
-	printf "Updating /root partition\n"
-	if tar xzf /misc/firmware/rootfs.tgz -C /tmp/rootpart; then
-		printf "/root partition updated successfully\n"
-	else
-		printf "/root partition update failed\n"
-	fi
-	sync
-
-	# Saving configuration files over sysupgrade
-	platform_copy_config_uDPU
-
-	# Remove tmp mounts
-	tmp_parts=$(grep "${emmc_dev}" /proc/mounts | awk '{print $2}')
-	for part in ${tmp_parts}; do
-		umount "$part"
-		# Force umount is necessary
-		grep -q "${part}" /proc/mounts && umount -l "$part"
-	done
-
-	# Sysupgrade complains about /tmp and /dev, so we can detach them here
-	umount -l /tmp
-	umount -l /dev
-}
-
-platform_copy_config_uDPU() {
-	# Config is saved on the /misc partition and copied on the rootfs after the reboot
-	if [ -f "$UPGRADE_BACKUP" ]; then
-		cp -f "$UPGRADE_BACKUP" "/misc/$BACKUP_FILE"
-		sync
-	fi
-}
diff --git a/target/linux/mvebu/cortexa53/target.mk b/target/linux/mvebu/cortexa53/target.mk
index fcf658c398..48c8b7f021 100644
--- a/target/linux/mvebu/cortexa53/target.mk
+++ b/target/linux/mvebu/cortexa53/target.mk
@@ -7,7 +7,7 @@ include $(TOPDIR)/rules.mk
 ARCH:=aarch64
 BOARDNAME:=Marvell Armada 3700LP (ARM64)
 CPU_TYPE:=cortex-a53
-FEATURES+=ext4
+FEATURES+=ext4 emmc
 DEFAULT_PACKAGES+=e2fsprogs ethtool mkf2fs partx-utils
 
 KERNELNAME:=Image dtbs
diff --git a/target/linux/mvebu/image/Makefile b/target/linux/mvebu/image/Makefile
index a1fa4b9f8d..db933a075b 100644
--- a/target/linux/mvebu/image/Makefile
+++ b/target/linux/mvebu/image/Makefile
@@ -136,19 +136,6 @@ define Build/sdcard-img-ext4
 		83 $(CONFIG_TARGET_ROOTFS_PARTSIZE) $(IMAGE_ROOTFS)
 endef
 
-define Build/uDPU-firmware
-	(rm -fR $@-fw; mkdir -p $@-fw)
-	$(CP) $(BIN_DIR)/$(KERNEL_INITRAMFS_IMAGE) $@-fw/recovery.itb
-	$(CP) $(IMAGE_ROOTFS) $@-fw/rootfs.tgz
-	$(CP) $@-boot.scr $@-fw/boot.scr
-	$(TAR) -czp --numeric-owner --owner=0 --group=0 --sort=name \
-		$(if $(SOURCE_DATE_EPOCH),--mtime="@$(SOURCE_DATE_EPOCH)") \
-		-f $@-fw/boot.tgz -C $@.boot .
-	$(TAR) -czp --numeric-owner --owner=0 --group=0 --sort=name \
-		$(if $(SOURCE_DATE_EPOCH),--mtime="@$(SOURCE_DATE_EPOCH)") \
-		-f $(KDIR_TMP)/$(DEVICE_IMG_PREFIX)-firmware.tgz -C $@-fw .
-endef
-
 define Device/FitImage
   KERNEL_SUFFIX := -uImage.itb
   KERNEL = kernel-bin | gzip | fit gzip $$(KDIR)/image-$$(DEVICE_DTS).dtb
diff --git a/target/linux/mvebu/image/cortexa53.mk b/target/linux/mvebu/image/cortexa53.mk
index 65e64ac512..f4c99caaa0 100644
--- a/target/linux/mvebu/image/cortexa53.mk
+++ b/target/linux/mvebu/image/cortexa53.mk
@@ -97,19 +97,46 @@ define Device/marvell_armada-3720-db
 endef
 TARGET_DEVICES += marvell_armada-3720-db
 
+define Build/methode-gpt-emmc
+  cp $@ $@.tmp 2>/dev/null || true
+  ptgen -g -o $@.tmp -l 1024 \
+      -t 0x2e -N kernel_1 -r -B -p 32M@1M \
+      -t 0x2e -N rootfs_1 -r -p 1536M@33M \
+      -t 0x2e -N kernel_2 -r -B -p 32M@1569M \
+      -t 0x2e -N rootfs_2 -r -p 1536M@1601M
+  cat $@.tmp >> $@
+  rm $@.tmp
+endef
+
+define Build/append-boot-part
+  dd if=$@.bootimg bs=32M conv=sync >> $@
+endef
+
+define Device/eMMC-methode
+  DEVICE_DTS_DIR := $(DTS_DIR)/marvell
+  KERNEL_NAME := Image
+  KERNEL := kernel-bin
+  KERNEL_LOADADDR := 0x00800000
+  DEVICE_PACKAGES += kmod-i2c-pxa kmod-hwmon-lm75 kmod-dsa-mv88e6xxx
+  DEVICE_COMPAT_VERSION := 2.0
+  DEVICE_COMPAT_MESSAGE := Partition layout and image format was changed. \
+  Upgrade requires reinstallation from initramfs.
+  FILESYSTEMS := squashfs
+  IMAGES := sysupgrade.bin emmc-gpt.img.gz
+  IMAGE/sysupgrade.bin := boot-scr | boot-img-ext4 | sysupgrade-tar kernel=$$$$@.bootimg | append-metadata
+  IMAGE/emmc-gpt.img.gz := methode-gpt-emmc |\
+    pad-to 1M  | boot-scr | boot-img-ext4 | append-boot-part |\
+    pad-to 33M | append-rootfs |\
+    gzip
+  BOOT_SCRIPT := udpu
+endef
+
 define Device/methode_udpu
-  $(call Device/Default-arm64)
+  $(call Device/eMMC-methode)
   $(call Device/FitImage)
   DEVICE_VENDOR := Methode
   DEVICE_MODEL := micro-DPU (uDPU)
   DEVICE_DTS := armada-3720-uDPU
-  KERNEL_LOADADDR := 0x00800000
-  DEVICE_PACKAGES += f2fs-tools fdisk kmod-i2c-pxa kmod-hwmon-lm75 kmod-dsa-mv88e6xxx
-  DEVICE_IMG_NAME = $$(DEVICE_IMG_PREFIX)-$$(2)
-  FILESYSTEMS := targz
-  IMAGES := firmware.tgz
-  IMAGE/firmware.tgz := boot-scr | boot-img-ext4 | uDPU-firmware | append-metadata
-  BOOT_SCRIPT := udpu
 endef
 TARGET_DEVICES += methode_udpu
 
diff --git a/target/linux/mvebu/image/udpu.bootscript b/target/linux/mvebu/image/udpu.bootscript
index 741254e460..51eab7e381 100644
--- a/target/linux/mvebu/image/udpu.bootscript
+++ b/target/linux/mvebu/image/udpu.bootscript
@@ -8,26 +8,67 @@ gpio clear 12; gpio clear 40; gpio clear 45;
 # Find eMMC device,
 if mmc dev 0; then
 	setenv mmcdev 0
-	setenv rootdev 'root=/dev/mmcblk0p3'
 elif mmc dev 1; then
 	setenv mmcdev 1
-	setenv rootdev 'root=/dev/mmcblk1p3'
 fi
 
+# Check if bootactive variable exists and if not, default to 1
+if test -z "${bootactive}"; then
+	setenv bootactive 1
+fi
+
+# Check if bootcount variable exists and if not, default to 0
+if test -z "${bootcount}"; then
+	setenv bootcount 0
+fi
+
+if itest ${bootcount} > 2; then
+	if itest ${bootactive} == 2; then
+		setenv bootactive 1
+	else
+		setenv bootactive 2
+	fi
+
+	setenv bootcount 0
+fi
+
+# Find A/B firmware to boot
+if itest ${bootactive} == 2; then
+	setenv kernelpart 3
+	setenv rootfspart 4
+else
+	setenv kernelpart 1
+	setenv rootfspart 2
+fi
+
+setenv rootdev 'root=/dev/mmcblk'${mmcdev}'p'${rootfspart}
+
 # Set the variables if necessary
 if test ${kernel_addr_r}; then
 	setenv kernel_addr_r 0x5000000
 fi
 
-setenv console 'rootfs_mount_options.compress_algorithm=zstd'
-setenv bootargs ${console} $rootdev rw rootwait
+echo 'Booting firmware:' ${bootactive}
 
-load mmc ${mmcdev}:1 ${kernel_addr_r} Image
+if itest ${bootcount} == 0; then
+	setenv bootcount 1
+elif itest ${bootcount} == 1; then
+	setenv bootcount 2
+elif itest ${bootcount} == 2; then
+	setenv bootcount 3
+else
+	setenv bootcount 4
+fi
+
+env save
+
+setenv bootargs $rootdev rootwait fstools_overlay_compression_type=zstd
+
+load mmc ${mmcdev}:${kernelpart} ${kernel_addr_r} Image
 
 bootm ${kernel_addr_r}
 
-# If the boot command fails, fallback to recovery image
-echo '-- Boot failed, falling back to the recovery image --'
-setenv bootargs $console
-load mmc ${mmcdev}:2 ${kernel_addr_r} recovery.itb
-bootm ${kernel_addr_r}
+# If booting fails before kernel is loaded then reboot
+# so the bootcount can trigger a slot switch.
+echo 'Booting firmware:' ${bootactive} 'failed, rebooting'
+reset