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I am trying to use QEMU to emulate an RPI running the buster lite raspbian. The command I use is:

qemu-system-arm -kernel ~/qemu_vms/kernel-qemu-4.19.50-buster -cpu arm1176 -m 256 -M versatilepb -serial stdio -append "root=/dev/sda2 rootfstype=ext4 rw" -hda ~/qemu_vms/2020-02-13-raspbian-buster-lite.img,format=raw -redir tcp:5022::22 -no-reboot

but I get the error:

    Automatically detecting the format is dangerous for raw images, write operations on block 0 will be restricted.
         Specify the 'raw' format explicitly to remove the restrictions.
qemu-system-arm: -no-reboot: drive with bus=0, unit=0 (index=0) exists

I know the solution is inserting format=raw somewhere in the command, but where?

Also the tutorial I'm using seems a little dated so If I am using any outdated commands please tell me.

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Looks like this will work for you (courtesy of man qemu-system-arm)

qemu-system-arm -kernel ~/qemu_vms/kernel-qemu-4.19.50-buster -cpu arm1176 -m 256 -M versatilepb -serial stdio -append "root=/dev/sda2 rootfstype=ext4 rw" -drive file="$HOME"/qemu_vms/2020-02-13-raspbian-buster-lite.img,format=raw -net user,hostfwd=tcp::5022-:22 -no-reboot

Basically, I've updated the disk definition to use -drive file="$HOME"/qemu_vms/2020-02-13-raspbian-buster-lite.img,format=raw and the port redirection to -net user,hostfwd=tcp::5022-:22

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