Ramon Roche
3efdbe9fd3
* docs(sim_sih): link Hawkeye visualizer, add stub page Replaces jMAVSim display-only mode references in the SIH page with Hawkeye, which is purpose-built for this role and actively maintained. The 3D visualization section now covers the hawkeye command, the port alignment with SIH (UDP 19410), and links out to the full Hawkeye documentation. Adds a short sim_hawkeye/index.md stub covering what Hawkeye is, install on macOS and Linux, and basic SIH usage. Everything else (multi-vehicle, ULog replay, HUD modes, CLI reference) lives at px4.github.io/Hawkeye and is linked from the stub, so PX4 docs don't carry the maintenance burden of two parallel sources. Also updates the port reference table: UDP 19410 is now labeled "Hawkeye visualizer" instead of "jMAVSim display-only", and adds the page to SUMMARY.md nested under SIH Simulation. * docs(update): subedit --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
2.4 KiB
Hawkeye Visualizer
Hawkeye is a real-time 3D flight visualizer for PX4.
Hawkeye is the natural pair for SIH — SIH runs the physics of an aircraft simulation and outputs MAVLink HIL_STATE_QUATERNION messages, Hawkeye uses these to show you what's happening.
Hawkeye has zero runtime dependencies, supports up to 16 vehicles simultaneously, and can replay PX4 ULog (.ulg) flight logs with transport controls, markers, and multi-drone correlation analysis.
Install
macOS (Homebrew)
brew tap PX4/px4
brew install PX4/px4/hawkeye
Linux (Debian/Ubuntu)
Download the .deb from the Hawkeye releases page:
sudo dpkg -i hawkeye-*.deb
Windows and source builds
For Ubuntu 24.04 or later in WSL2 you can install the packages in the same way:
sudo dpkg -i hawkeye-*.deb
For other versions of Ubuntu (or native Windows builds) you may need to Build from source (Hawkeye docs).
Usage with SIH
Start PX4 SIH, then launch Hawkeye in a separate terminal:
# Terminal 1
make px4_sitl sihsim_quadx
# Terminal 2
hawkeye
Hawkeye listens on UDP port 19410 — the same port SIH sends HIL_STATE_QUATERNION on — so no configuration is needed. The vehicle appears in the Hawkeye window as soon as SIH starts streaming.
For fixed-wing or tailsitter simulation, Hawkeye auto-detects the vehicle type from MAVLink HEARTBEAT and loads the matching 3D model.
Full documentation
Complete documentation — including multi-vehicle SITL, ULog replay, HUD modes, camera controls, and correlation analysis — lives at px4.github.io/Hawkeye.
- First SITL run — the shortest path from install to seeing a vehicle move
- Multi-Drone Replay — compare multiple flights with deconfliction and correlation
- Live SITL Integration — single-vehicle and multi-instance swarm workflows
- Command-Line Reference — every CLI flag with examples
- Source code