Here are some development binary images of kernel and bootloader...

For GTA02, you want

bootloader: qi-s3c2442-master_....

and

kernel: uImage-moredrivers-GTA02_andy-tracking_...

The quick guide to using Qi is like this:

DFU qi-s3c2442-master into the U-Boot partition (you can always replace it 
with a U-Boot image from here like u-boot-gta02v5v6-stable_....udfu to go back).

Qi route, first tries to boot from the first three partitions of SD Card,
looking at any ext2 / 3 partition on there for /boot/uImage-GTA02.bin... 
if it finds it, it will try to boot it and use that partition as the rootfs.

If none of the first three SD partitions have the kernel file, it will boot
from the NAND kernel partition as usual.

You can find more info about Qi in the README file here

http://git.openmoko.org/?p=qi.git;a=tree