OK, this is actually due to the changes between u-boot-menu
4.0.1ubuntu0.1 and 4.0.2ubuntu5~20.04.1.  The relevant difference is
that the menu entry now has `fdtdir
/lib/firmware/5.8.0-29-generic/device-tree/` (or similar) when it
previously didn't load a device tree at all.

I successfully worked around this by adding the following to
`/etc/default/u-boot`:

    # XXX cjwatson 2021-08-24: Revert to old (nonexistent) default, since using
    # the device tree in /lib/firmware/ results in an image that fails to boot.
    # See https://bugs.launchpad.net/bugs/1940984.
    U_BOOT_FDT_DIR="/usr/lib/linux-image-"

** Package changed: linux-riscv-5.11 (Ubuntu) => u-boot-menu (Ubuntu)

** Summary changed:

- 5.11.0-1017 fails to boot on qemu builders
+ u-boot fails to load FDT from linux-firmware on qemu builders

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https://bugs.launchpad.net/bugs/1940984

Title:
  u-boot fails to load FDT from linux-firmware on qemu builders

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