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refactor(bench): remove the Hawkeye viewer tee

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The --viewer path (tee MAVLink frames to UDP and enable the
HIL_STATE_QUATERNION/HIL_ACTUATOR_CONTROLS streams so Hawkeye could
render an SIH flight live) was never validated end to end: Hawkeye
never actually rendered from it. Rather than ship an unproven feature,
drop it.

Removes px4bench.attach_viewer_tee (and its function-local socket use),
the flight_mission --viewer/--viewer-port args, the viewer tee call and
the stream-enable block, and the now-unused --board-dev arg that only
fed those stream commands. The SIH flight logic, firmware gate,
storage/serial tests, and the arming gate are unchanged. README and the
bench testing docs page drop the Hawkeye section and all --viewer
mentions.

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Ramon Roche
2026-07-07 20:29:01 -07:00
parent bf7dcb7229
commit ca47db5faa
4 changed files with 7 additions and 68 deletions
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docs/en/test_and_ci/bench_testing.md
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@@ -88,13 +88,6 @@ The flight log is downloaded into the report directory automatically for post-fl
Real outputs are replaced by `pwm_out_sim` in this mode, so nothing is driven on the output rails; still, run it only on a bare bench board with nothing connected to the outputs.
The firmware must be built with `CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y` (boards may provide a bench variant that adds it, such as `px4_fmu-v6xrt_bench`).
To watch the flight live in 3D, install [Hawkeye](https://github.com/PX4/Hawkeye) and run the test with `--viewer`:
```sh
hawkeye -udp 19410 -mc &
./sih/flight_mission.py /dev/ttyACM0 --viewer
```
## Baseline Comparison
`boot_health` can diff two report directories, comparing uORB publication rates, work queues, and topics between runs: