From 2021.2, PetaLinux supports generating MCS file for AMD Zynq™ , Zynq UltraScale+ MPSoC, and AMD Versal™ platforms using Bootgen utility. This enables you to program the MCS file directly to a target board and boot. The output MCS file can be found in <plnx-proj-root>/images/linux/ with the name boot.mcs.
The following is the command to generate the MCS file:
petalinux-package --boot --uboot --kernel --offset <Fit Image Flash Offset Address> --format MCS --force
For more details see Generate MCS Image in Packaging Boot Image for specific platform.