Real-time 3D flight visualizer for PX4 — watch live SITL simulations, replay ULog flights, and analyze multi-drone swarms with correlation tracking, takeoff alignment, and deconfliction. Supports up to 16 vehicles simultaneously with ghost overlays, formation views, and frame-by-frame inspection.
Built with Raylib and MAVLink. Zero dependencies to install — just build and fly.
Full documentation: px4.github.io/Hawkeye
brew tap PX4/px4
brew install PX4/px4/hawkeyeDownload the .deb from the latest release:
sudo dpkg -i hawkeye_*.debDownload hawkeye-<version>-windows-x64.zip from the latest release, extract it anywhere, and run hawkeye.exe.
On first launch, Windows SmartScreen may warn that the binary is from an unknown publisher — click "More info" → "Run anyway". The ZIP is unsigned; we're working on winget distribution to remove this warning.
Download hawkeye-<version>-android-unsigned.apk from the latest release. It requires Android 10 or newer and bundles both arm64-v8a and x86_64.
The APK is unsigned and cannot be installed as downloaded. Sign it with your own key first; see the Android README for the commands.
See Building from source in the developer docs.
Launch with PX4 SITL (single vehicle):
# Terminal 1: Start PX4 SITL with SIH
make px4_sitl sihsim_quadx
# Terminal 2: Launch viewer
hawkeyeReplay a ULog file:
hawkeye --replay path/to/flight.ulgSee the full documentation for CLI options, multi-vehicle swarms, ULog replay, HUD modes, camera views, correlation analysis, and keyboard shortcuts.
This project was inspired by jMAVSim, the Java-based MAVLink simulator and viewer. Vehicle 3D models are derived from jMAVSim's assets.
BSD-3-Clause