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Hamish Willee
2026-04-08 16:06:41 +10:00
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docs/en/sim_sih/index.md
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@@ -80,9 +80,9 @@ If you need a visual aid to see what the vehicle is doing you can use QGroundCon
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.
#### Hawkeye (3D Visualizer)
#### Hawkeye (3D Visualiser)
[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.
[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.
In a separate terminal, run:
@@ -92,7 +92,7 @@ hawkeye
Hawkeye connects on UDP port 19410 by default (the same port SIH sends `HIL_STATE_QUATERNION` on).
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.
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.
### Environment Configuration
@@ -146,14 +146,14 @@ See [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](../middleware/uxrce_dds.md) for full setu
PX4 SITL opens the following UDP ports (all instance-aware, offset by instance number N).
| PX4 sends to (remote) | PX4 listens on (local) | Use for | Instance offset |
| --------------------- | ---------------------- | ------------------------------- | ----------------------------------------- |
| **14550** | 18570 (+N) | QGroundControl, GCS tools | Yes |
| **14540** (+N) | 14580 (+N) | MAVSDK, MAVROS, offboard APIs | Yes (capped at 14549 for 10+ instances) |
| **14030** (+N) | 14280 (+N) | Onboard camera/payload | Yes |
| **13280** (+N) | 13030 (+N) | Gimbal control | Yes |
| **19410** (+N) | 19450 (+N) | Hawkeye visualizer (SIH only) | Yes |
| **8888** | - | uXRCE-DDS / ROS 2 | No (use DDS namespace for multi-instance) |
| PX4 sends to (remote) | PX4 listens on (local) | Use for | Instance offset |
| --------------------- | ---------------------- | ----------------------------- | ----------------------------------------- |
| **14550** | 18570 (+N) | QGroundControl, GCS tools | Yes |
| **14540** (+N) | 14580 (+N) | MAVSDK, MAVROS, offboard APIs | Yes (capped at 14549 for 10+ instances) |
| **14030** (+N) | 14280 (+N) | Onboard camera/payload | Yes |
| **13280** (+N) | 13030 (+N) | Gimbal control | Yes |
| **19410** (+N) | 19450 (+N) | Hawkeye visualizer (SIH only) | Yes |
| **8888** | - | uXRCE-DDS / ROS 2 | No (use DDS namespace for multi-instance) |
QGC auto-connects on port **14550** by default. MAVSDK connects on **14540**. No manual port configuration needed for single-instance use.