dji-firmware-tools
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How to Repackage Phantom 3 advanced Firmware
I want to modify the firmware and re-compress it
Modifying a file (Shadow)
Finally, I want to compress the file again
Please teach me the way. Help me, please.
Just make sure to mount the rootfs image and modify there instead of extracting. Besides that, there are no caveats - just use the scripts in reverse order with proper parameters to get back to one binary.
Non-signed firmwares (before Mavic) can be repackaged without additional knowledge.
Here's a simple test which does the first level: https://github.com/o-gs/dji-firmware-tools/blob/master/tests/test_dji_xv4_fwcon_rebin1.sh
For details on the modules inside - use the project wiki.