mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
NuttX Cmake changes to build combined kernel+userspace image in nuttx protected build
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen
parent
08f83367ac
commit
69fc3cbde0
@ -47,6 +47,15 @@ add_dependencies(px4 git_nuttx nuttx_build)
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get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
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if (NOT CONFIG_BUILD_FLAT)
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add_executable(px4_kernel ${PX4_SOURCE_DIR}/platforms/common/empty.c)
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set(KERNEL_NAME ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}_kernel.elf)
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set_target_properties(px4_kernel PROPERTIES OUTPUT_NAME ${KERNEL_NAME})
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add_dependencies(px4_kernel git_nuttx nuttx_build)
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get_property(kernel_module_libraries GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES)
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endif()
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# build NuttX
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add_subdirectory(NuttX ${PX4_BINARY_DIR}/NuttX)
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@ -84,21 +93,34 @@ else()
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endif()
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list(APPEND nuttx_libs
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nuttx_apps
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nuttx_arch
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nuttx_binfmt
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nuttx_c
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nuttx_boards
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nuttx_xx
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nuttx_drivers
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nuttx_fs
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nuttx_mm
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nuttx_sched
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)
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nuttx_binfmt
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nuttx_xx
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)
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if (NOT CONFIG_BUILD_FLAT)
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list(APPEND nuttx_libs
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px4_board_ctrl
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nuttx_karch
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nuttx_kmm
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nuttx_stubs
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nuttx_kc
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)
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else()
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list(APPEND nuttx_libs
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nuttx_apps
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nuttx_arch
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nuttx_mm
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nuttx_c)
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endif()
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if (CONFIG_NET)
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list(APPEND nuttx_libs nuttx_net)
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target_link_libraries(nuttx_fs INTERFACE nuttx_net)
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target_link_libraries(nuttx_net INTERFACE nuttx_mm)
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endif()
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file(RELATIVE_PATH PX4_BINARY_DIR_REL ${CMAKE_CURRENT_BINARY_DIR} ${PX4_BINARY_DIR})
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@ -107,13 +129,132 @@ file(RELATIVE_PATH PX4_BINARY_DIR_REL ${CMAKE_CURRENT_BINARY_DIR} ${PX4_BINARY_D
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# because even relative linker script paths are different for linux, mac and windows
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CYGPATH(PX4_BINARY_DIR PX4_BINARY_DIR_CYG)
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if((DEFINED ENV{SIGNING_TOOL}) AND (NOT NUTTX_DIR MATCHES "external"))
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set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR}/${PX4_BOARD}_unsigned.bin)
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add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin
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COMMAND $ENV{SIGNING_TOOL} $ENV{SIGNING_ARGS} ${PX4_BINARY_OUTPUT} ${PX4_BINARY_DIR}/${PX4_BOARD}.bin
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DEPENDS ${PX4_BINARY_OUTPUT}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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)
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else()
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set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin)
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endif()
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if (NOT CONFIG_BUILD_FLAT)
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target_link_libraries(nuttx_karch
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INTERFACE
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drivers_board
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arch_hrt
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)
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target_link_libraries(px4_kernel PRIVATE
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-nostartfiles
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-nodefaultlibs
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-nostdlib
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-nostdinc++
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-fno-exceptions
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-fno-rtti
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-Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx-config/scripts/${SCRIPT_PREFIX}memory.ld,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx-config/scripts/${SCRIPT_PREFIX}kernel-space.ld
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-Wl,-Map=${PX4_CONFIG}_kernel.map
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-Wl,--warn-common
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-Wl,--gc-sections
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-Wl,--start-group
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${nuttx_libs}
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${kernel_module_libraries}
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px4_work_queue # TODO, this shouldn't be needed here?
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-Wl,--end-group
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m
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gcc
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)
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if (config_romfs_root)
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add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
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target_link_libraries(px4_kernel PRIVATE romfs)
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endif()
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target_link_libraries(px4_kernel PRIVATE -Wl,--print-memory-usage)
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set(nuttx_userspace)
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list(APPEND nuttx_userspace
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drivers_userspace
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nuttx_arch
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nuttx_apps
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nuttx_mm
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nuttx_proxies
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nuttx_c
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nuttx_xx
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)
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target_link_libraries(nuttx_c INTERFACE nuttx_proxies)
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target_link_libraries(px4 PRIVATE
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-nostartfiles
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-nodefaultlibs
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-nostdlib
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-nostdinc++
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-fno-exceptions
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-fno-rtti
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-Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx-config/scripts/${SCRIPT_PREFIX}memory.ld,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx-config/scripts/${SCRIPT_PREFIX}user-space.ld
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-Wl,-Map=${PX4_CONFIG}.map
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-Wl,--warn-common
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-Wl,--gc-sections
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-Wl,--start-group
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${nuttx_userspace}
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-Wl,--end-group
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m
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gcc
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)
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target_link_libraries(px4 PRIVATE -Wl,--print-memory-usage)
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target_link_libraries(px4 PRIVATE
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${module_libraries}
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)
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add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT}
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COMMAND ${CMAKE_OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_DIR_REL}/${PX4_BOARD}_user.bin
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COMMAND ${CMAKE_OBJCOPY} --gap-fill 0xFF --pad-to ${CONFIG_NUTTX_USERSPACE} -O binary ${PX4_BINARY_DIR_REL}/${KERNEL_NAME} ${PX4_BINARY_OUTPUT}
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COMMAND cat ${PX4_BINARY_DIR_REL}/${PX4_BOARD}_user.bin >> ${PX4_BINARY_OUTPUT}
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DEPENDS px4 px4_kernel
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)
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else()
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target_link_libraries(drivers_board
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PRIVATE
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nuttx_c
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nuttx_mm
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nuttx_fs
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)
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# nxsched_get_streams
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target_link_libraries(nuttx_c INTERFACE nuttx_sched)
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target_link_libraries(nuttx_arch
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INTERFACE
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drivers_board
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arch_hrt
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arch_board_reset
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)
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target_link_libraries(nuttx_c INTERFACE nuttx_drivers)
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target_link_libraries(nuttx_c INTERFACE nuttx_drivers nuttx_fs)
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target_link_libraries(nuttx_xx INTERFACE nuttx_c)
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target_link_libraries(nuttx_fs INTERFACE nuttx_c)
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@ -150,23 +291,13 @@ if (config_romfs_root)
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target_link_libraries(px4 PRIVATE romfs)
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endif()
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if((DEFINED ENV{SIGNING_TOOL}) AND (NOT NUTTX_DIR MATCHES "external"))
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set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR}/${PX4_BOARD}_unsigned.bin)
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add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin
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COMMAND $ENV{SIGNING_TOOL} $ENV{SIGNING_ARGS} ${PX4_BINARY_OUTPUT} ${PX4_BINARY_DIR}/${PX4_BOARD}.bin
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DEPENDS ${PX4_BINARY_OUTPUT}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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)
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else()
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set(PX4_BINARY_OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin)
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endif()
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add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT}
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COMMAND ${CMAKE_OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_OUTPUT}
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DEPENDS px4
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)
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endif()
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# create .px4 with parameter and airframe metadata
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if (TARGET parameters_xml AND TARGET airframes_xml)
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