mavsim-viewer is now Hawkeye. New name, new home under the PX4 organization, and a massive feature release.
Multi-Drone Swarm Replay
Load multiple .ulg files and replay them simultaneously. Ghost mode overlays flights at 35% opacity for visual before/after comparison. Formation mode renders drones at their real GPS-relative positions with per-drone home position markers.
Automatic conflict detection pre-scans launch sites and offers deconfliction options (Formation, Ghost, Grid Offset, Narrow Grid) when it finds overlapping origins or suspicious separation.
CUSUM takeoff detection identifies liftoff automatically. Press A to time-align all drones so takeoffs are synchronized.
Correlation Analysis
Pin a secondary drone (Shift+1-9) and get live stats: Pearson correlation (trajectory similarity), RMSE (position error in meters), and CUSUM confidence. Toggle correlation lines, curtains, and gradient ribbon overlays between drones with Shift+T.
Theme Engine
76-slot theme system with .mvt file format. Cycle themes with V, or drag and drop custom .mvt files onto the window. Ships with Grid, Rez, and Snow presets. Includes a browser-based theme builder with live preview and export.
ULog Replay v2
Frame stepping (Shift+Arrow), persistent trails that survive seek and pause, and a marker system (B to drop, L to label, [/] to navigate). Improved seek with 1s and 5s granularity.
Free Camera
Third camera mode (cycle with C). Fly with WASD+QE, Shift for 3x speed. Jump to any marker and auto-track the drone until you take manual control.
Screen Edge Indicators
Ctrl+L shows chevrons at screen edges pointing toward off-screen drones in multi-vehicle mode.
Two-Digit Key Chords
Select or pin drones 10-16 with sequential key presses (e.g., 1 then 0 for drone 10).
Rendering Performance
Distance-based trail LOD skips segments far from camera, cutting ~12% off frame time with 64 drones. Trail buffers increased 50% (1800 to 2700 samples) with the savings. Camera-relative ground texture with three-tier LOD extends terrain visibility without extra cost.
Architecture
Extracted 8 focused modules from the main.c and hud.c monoliths. Added vtable abstraction for replay sources. Packed HUD draw parameters into typed structs. New cross-platform Makefile and expanded test coverage.
Install
macOS (Homebrew):
brew tap PX4/px4
brew install PX4/px4/hawkeye
Linux (Debian/Ubuntu):
# amd64
sudo dpkg -i hawkeye_0.2.0_amd64.deb
# arm64
sudo dpkg -i hawkeye_0.2.0_arm64.deb
From source:
git clone --recursive https://github.com/PX4/Hawkeye
cd Hawkeye && cmake -B build && cmake --build build
./build/hawkeye