Do I have to pay Elphel any royalties if I will build my cameras using documentation provided by Elphel, Inc?
No, you do not have to pay any royalties to Elphel if you decide to clone Elphel camera or manufacture an improved derivative product. But in that case you will still be bound by the GNU GPL license for all parts of the firmware and/or hardware code that you plan to reuse and subject to all license compatibility issues described above.
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