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