How to Porting a Custom Built Fitmware in RP 2040?

Hello There. I am new to developing PX4… so I saw this video of Prof Vatsal Joshi in PX4 developer summit 2022, where he discusses how to make or design the flight controller. Right now I come from Ardupilot developing, so basically there we first used to compile the specific bootloader for specific board (Porting to a new flight controller board — Dev documentation) and then we upload the compiled firmware for specific hardware target. Now I have RPI2040 and the sensors that are described in ( And I have copiled the same for these specific targets. Can anyone tell me how would I upload the bootloader and this build firmware in the Hardware ? Thankyou in advance. Sorry if I am doing any silly mistakes .

i need information about what type complied file you have ?