Apply suggestion from @hamishwillee

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

docs/en/SUMMARY.md

@@ -468,6 +468,7 @@
       - [Gazebo Models Repository](sim_gazebo_gz/gazebo_models.md)
       - [Multi-Vehicle Sim](sim_gazebo_gz/multi_vehicle_simulation.md)
     - [SIH Simulation](sim_sih/index.md)
+      - [Hawkeye Visualizer](sim_hawkeye/index.md)
     - [Gazebo Classic Simulation](sim_gazebo_classic/index.md)
       - [Vehicles](sim_gazebo_classic/vehicles.md)
       - [Worlds](sim_gazebo_classic/worlds.md)

docs/en/log/flight_log_analysis.md

@@ -41,6 +41,13 @@ Key features:
 
 See [Log Analysis using Flight Review](../log/flight_review.md) for an introduction.
 
+### Hawkeye (3D Flight Replay)
+
+[Hawkeye](../sim_hawkeye/index.md) can replay ULog files as 3D flight visualisations.
+Its ghost mode overlays two flights at different opacities for visual comparison (e.g. before/after PID tuning), and it supports multi-drone side-by-side playback.
+
+See [Hawkeye ULog Replay](../sim_hawkeye/index.md#ulog-replay) for details.
+
 ### Foxglove
 
 [Foxglove](https://foxglove.dev/) is a purpose-built robotics observation platform that works natively with ULog.

docs/en/sim_hawkeye/index.md

@@ -0,0 +1,147 @@
+# Hawkeye Flight Visualiser
+
+[Hawkeye](https://github.com/PX4/Hawkeye) is a real-time 3D flight visualiser for PX4.
+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.
+
+::: tip
+Hawkeye is the recommended visualiser for [SIH Simulation](../sim_sih/index.md) (which doesn't have a default visualiser).
+:::
+
+Note that Hawkeye is not a simulator — it doesn't model physics or generate sensor data — it only renders what PX4 is doing.
+
+Hawkeye has no runtime dependencies.
+It is built in in C with [Raylib](https://www.raylib.com/).
+
+## Features
+
+- Real-time 3D rendering of vehicle state via MAVLink
+- Multi-vehicle swarm visualisation (up to 16 vehicles simultaneously)
+- ULog replay with ghost mode for visual flight comparison (e.g. before/after PID tuning)
+- Vehicle models: quadrotor, hexarotor, fixed-wing, tailsitter, VTOL, rover, ROV
+- Three camera modes: Chase, FPV, Free (WASD fly)
+- Orthographic views (sidebar and fullscreen)
+- HUD with compass, attitude indicator, and telemetry badges
+- Theme engine with built-in themes (Grid, Rez, Snow)
+
+## Installation
+
+### macOS (Homebrew)
+
+```sh
+brew tap PX4/px4
+brew install PX4/px4/hawkeye
+```
+
+### Linux (Debian/Ubuntu)
+
+Download the `.deb` package from the [latest release](https://github.com/PX4/Hawkeye/releases/latest):
+
+```sh
+sudo dpkg -i hawkeye_*_amd64.deb
+```
+
+### From Source (All Platforms)
+
+```sh
+git clone --recursive https://github.com/PX4/Hawkeye.git
+cd Hawkeye
+make release
+```
+
+The binary is placed at `build/hawkeye`.
+
+On Linux, the following packages are required:
+
+```sh
+sudo apt install build-essential cmake libx11-dev libxrandr-dev libxinerama-dev libxcursor-dev libxi-dev libgl-dev
+```
+
+On Windows, use Visual Studio with the C/C++ workload and CMake.
+
+## Usage with SIH SITL
+
+### Single Vehicle
+
+In one terminal, start SIH:
+
+```sh
+make px4_sitl_sih sihsim_quadx
+```
+
+In another terminal, start Hawkeye:
+
+```sh
+hawkeye
+```
+
+Hawkeye connects on UDP port **19410** by default — the same port SIH sends `HIL_STATE_QUATERNION` on.
+
+### Multi-Vehicle
+
+Each SIH instance sends visualisation data on port `19410 + N` (where N is the instance number).
+Launch multiple SIH instances, then start Hawkeye with the vehicle count:
+
+```sh
+hawkeye -n 3
+```
+
+### Vehicle Type Selection
+
+By default, Hawkeye renders a quadrotor.
+Use flags to select a different model:
+
+| Flag  | Vehicle               |
+| ----- | --------------------- |
+| `-mc` | Multicopter (default) |
+| `-fw` | Fixed-wing            |
+| `-ts` | Tailsitter            |
+
+Example for fixed-wing:
+
+```sh
+hawkeye -fw
+```
+
+## ULog Replay
+
+Hawkeye can replay flight logs for post-flight review:
+
+```sh
+hawkeye --replay flight.ulg
+```
+
+### Ghost Mode
+
+Overlay a second flight at reduced opacity for visual comparison:
+
+```sh
+hawkeye --replay flight_after.ulg --ghost flight_before.ulg
+```
+
+This is useful for comparing flights before and after tuning changes.
+
+## CLI Reference
+
+| Option                      | Description                           |
+| --------------------------- | ------------------------------------- |
+| `-udp <port>`               | Set UDP listen port (default: 19410)  |
+| `-n <count>`                | Number of vehicles to visualise       |
+| `-origin <lat> <lon> <alt>` | Set map origin                        |
+| `-mc`                       | Multicopter model                     |
+| `-fw`                       | Fixed-wing model                      |
+| `-ts`                       | Tailsitter model                      |
+| `--replay <file.ulg>`       | Replay a ULog file                    |
+| `--ghost <file.ulg>`        | Overlay a ghost flight for comparison |
+
+## Camera Controls
+
+| Mode  | Description                          |
+| ----- | ------------------------------------ |
+| Chase | Follows behind the vehicle (default) |
+| FPV   | First-person view from the vehicle   |
+| Free  | Fly freely with WASD + mouse         |
+
+## See Also
+
+- [Hawkeye GitHub Repository](https://github.com/PX4/Hawkeye)
+- [SIH Simulation](../sim_sih/index.md) — the headless simulator Hawkeye is designed to visualise

docs/en/sim_sih/index.md

@@ -74,27 +74,25 @@ The `px4_sitl` target will work, but will also build Gazebo libraries.
 ### Visualization (Optional) {#sitl-visualization}
 
 SIH is intentionally headless by default.
-If you need a visual aid to see what the vehicle is doing you can use QGroundControl to track path over ground, and/or jMAVSim as a 3D viewer.
+If you need a visual aid to see what the vehicle is doing you can use QGroundControl to track path over ground, and/or [Hawkeye](../sim_hawkeye/index.md) as a 3D viewer.
 
 #### QGroundControl
 
 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.
 
-#### jMAVSim (3D Display-Only)
+#### Hawkeye (3D Visualiser)
 
-jMAVSim can render a 3D view of the vehicle using MAVLink position data. No physics are simulated in jMAVSim — it is display-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:
 
 ```sh
-./Tools/simulation/jmavsim/jmavsim_run.sh -p 19410 -u -q -o
+hawkeye
 ```
 
-Flags:
+Hawkeye connects on UDP port 19410 by default (the same port SIH sends `HIL_STATE_QUATERNION` on).
 
-- `-a` for airplane model
-- `-t` for tailsitter model
-- `-o` enable display-only mode.
-
-See [jMAVSim Display-Only Mode](../sim_jmavsim/index.md#display-only-mode) for details.
+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
 
@@ -148,14 +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)             | jMAVSim display-only (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.