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Hamish Willee
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# Hawkeye Flight Visualizer
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# Hawkeye Flight Visualiser
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[Hawkeye](https://github.com/PX4/Hawkeye) is a real-time 3D flight visualizer for PX4.
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[Hawkeye](https://github.com/PX4/Hawkeye) is a real-time 3D flight visualiser for PX4.
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It connects to any MAVLink source (SITL or hardware) and renders vehicle state from [`HIL_STATE_QUATERNION`](https://mavlink.io/en/messages/common.html#HIL_STATE_QUATERNION) messages.
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Hawkeye is a **visualizer**, not a simulator.
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It does not model physics or generate sensor data — it only renders what PX4 is doing.
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This makes it the recommended visual companion for [SIH](../sim_sih/index.md), which runs its own physics internally.
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::: tip
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Hawkeye is the recommended visualiser for [SIH Simulation](../sim_sih/index.md) (which doesn't have a default visualiser).
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:::
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Built in C with [Raylib](https://www.raylib.com/), Hawkeye has zero runtime dependencies.
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Note that Hawkeye is not a simulator — it doesn't model physics or generate sensor data — it only renders what PX4 is doing.
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Hawkeye has no runtime dependencies.
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It is built in in C with [Raylib](https://www.raylib.com/).
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## Features
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- Real-time 3D rendering of vehicle state via MAVLink
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- Multi-vehicle swarm visualization (up to 16 vehicles simultaneously)
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- Multi-vehicle swarm visualisation (up to 16 vehicles simultaneously)
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- ULog replay with ghost mode for visual flight comparison (e.g. before/after PID tuning)
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- Vehicle models: quadrotor, hexarotor, fixed-wing, tailsitter, VTOL, rover, ROV
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- Three camera modes: Chase, FPV, Free (WASD fly)
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@@ -75,7 +78,7 @@ Hawkeye connects on UDP port **19410** by default — the same port SIH sends `H
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### Multi-Vehicle
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Each SIH instance sends visualization data on port `19410 + N` (where N is the instance number).
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Each SIH instance sends visualisation data on port `19410 + N` (where N is the instance number).
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Launch multiple SIH instances, then start Hawkeye with the vehicle count:
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```sh
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@@ -84,13 +87,14 @@ hawkeye -n 3
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### Vehicle Type Selection
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By default, Hawkeye renders a quadrotor. Use flags to select a different model:
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By default, Hawkeye renders a quadrotor.
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Use flags to select a different model:
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| Flag | Vehicle |
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| ---- | ------- |
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| Flag | Vehicle |
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| ----- | --------------------- |
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| `-mc` | Multicopter (default) |
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| `-fw` | Fixed-wing |
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| `-ts` | Tailsitter |
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| `-fw` | Fixed-wing |
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| `-ts` | Tailsitter |
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Example for fixed-wing:
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@@ -118,26 +122,26 @@ This is useful for comparing flights before and after tuning changes.
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## CLI Reference
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| Option | Description |
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| ------ | ----------- |
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| `-udp <port>` | Set UDP listen port (default: 19410) |
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| `-n <count>` | Number of vehicles to visualize |
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| `-origin <lat> <lon> <alt>` | Set map origin |
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| `-mc` | Multicopter model |
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| `-fw` | Fixed-wing model |
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| `-ts` | Tailsitter model |
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| `--replay <file.ulg>` | Replay a ULog file |
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| `--ghost <file.ulg>` | Overlay a ghost flight for comparison |
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| Option | Description |
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| --------------------------- | ------------------------------------- |
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| `-udp <port>` | Set UDP listen port (default: 19410) |
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| `-n <count>` | Number of vehicles to visualise |
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| `-origin <lat> <lon> <alt>` | Set map origin |
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| `-mc` | Multicopter model |
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| `-fw` | Fixed-wing model |
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| `-ts` | Tailsitter model |
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| `--replay <file.ulg>` | Replay a ULog file |
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| `--ghost <file.ulg>` | Overlay a ghost flight for comparison |
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## Camera Controls
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| Mode | Description |
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| ---- | ----------- |
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| Mode | Description |
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| ----- | ------------------------------------ |
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| Chase | Follows behind the vehicle (default) |
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| FPV | First-person view from the vehicle |
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| Free | Fly freely with WASD + mouse |
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| FPV | First-person view from the vehicle |
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| Free | Fly freely with WASD + mouse |
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## See Also
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- [Hawkeye GitHub Repository](https://github.com/PX4/Hawkeye)
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- [SIH Simulation](../sim_sih/index.md) — the headless simulator Hawkeye is designed to visualize
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- [SIH Simulation](../sim_sih/index.md) — the headless simulator Hawkeye is designed to visualise
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+11
-11
@@ -80,9 +80,9 @@ If you need a visual aid to see what the vehicle is doing you can use QGroundCon
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QGC auto-connects on UDP port 14550. Open QGC while SIH is running and the vehicle appears on the map view with attitude, position, and telemetry.
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#### Hawkeye (3D Visualizer)
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#### Hawkeye (3D Visualiser)
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[Hawkeye](../sim_hawkeye/index.md) renders a real-time 3D view of the vehicle using MAVLink position data. No physics are simulated in Hawkeye — it is a visualizer only.
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[Hawkeye](../sim_hawkeye/index.md) renders a real-time 3D view of the vehicle using MAVLink position data. No physics are simulated in Hawkeye — it is a visualiser only.
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In a separate terminal, run:
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@@ -92,7 +92,7 @@ hawkeye
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Hawkeye connects on UDP port 19410 by default (the same port SIH sends `HIL_STATE_QUATERNION` on).
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Use `-fw` for fixed-wing or `-ts` for tailsitter models. See the [Hawkeye docs](../sim_hawkeye/index.md) for multi-vehicle visualization and ULog replay.
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Use `-fw` for fixed-wing or `-ts` for tailsitter models. See the [Hawkeye docs](../sim_hawkeye/index.md) for multi-vehicle visualisation and ULog replay.
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### Environment Configuration
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@@ -146,14 +146,14 @@ See [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](../middleware/uxrce_dds.md) for full setu
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PX4 SITL opens the following UDP ports (all instance-aware, offset by instance number N).
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| PX4 sends to (remote) | PX4 listens on (local) | Use for | Instance offset |
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| --------------------- | ---------------------- | ------------------------------- | ----------------------------------------- |
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| **14550** | 18570 (+N) | QGroundControl, GCS tools | Yes |
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| **14540** (+N) | 14580 (+N) | MAVSDK, MAVROS, offboard APIs | Yes (capped at 14549 for 10+ instances) |
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| **14030** (+N) | 14280 (+N) | Onboard camera/payload | Yes |
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| **13280** (+N) | 13030 (+N) | Gimbal control | Yes |
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| **19410** (+N) | 19450 (+N) | Hawkeye visualizer (SIH only) | Yes |
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| **8888** | - | uXRCE-DDS / ROS 2 | No (use DDS namespace for multi-instance) |
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| PX4 sends to (remote) | PX4 listens on (local) | Use for | Instance offset |
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| --------------------- | ---------------------- | ----------------------------- | ----------------------------------------- |
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| **14550** | 18570 (+N) | QGroundControl, GCS tools | Yes |
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| **14540** (+N) | 14580 (+N) | MAVSDK, MAVROS, offboard APIs | Yes (capped at 14549 for 10+ instances) |
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| **14030** (+N) | 14280 (+N) | Onboard camera/payload | Yes |
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| **13280** (+N) | 13030 (+N) | Gimbal control | Yes |
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| **19410** (+N) | 19450 (+N) | Hawkeye visualizer (SIH only) | Yes |
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| **8888** | - | uXRCE-DDS / ROS 2 | No (use DDS namespace for multi-instance) |
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QGC auto-connects on port **14550** by default. MAVSDK connects on **14540**. No manual port configuration needed for single-instance use.
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