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Solved Problem
When using PX4-gazebo models as the sim models source directory I found that CMake warnings would be thrown for models that did not have their own airframe file but were still needed as part of the foundation of other models.
Solution
To prevent this from happening I have added a file that lists out all models that are allowed to not have an airframe file and CMake will not throw a warning for them.
The warning seen when building PX4 with models that do not have an airframe file.