Command-Line Reference (Hawkeye)

Every Hawkeye CLI flag with description and default value.

Options

Flag	Description	Default
-udp <port>	UDP base port for MAVLink telemetry	19410
-n <count>	Number of vehicles (max 16)	1
-mc	Default to multicopter model	on
-fw	Default to fixed-wing model	off
-ts	Default to tailsitter model	off
-origin <lat> <lon> <alt>	NED origin in degrees (lat, lon) and meters (alt)	PX4 SIH default
-w <width>	Window width in pixels	1280
-h <height>	Window height in pixels	720
--replay <f1.ulg> [f2.ulg ...]	Replay one or more ULog files	(none)
--ghost <f1.ulg> [f2.ulg ...]	Replay with ghost overlay (non-primary drones at 35% opacity)	(none)
-d	Enable debug output to stderr	off

Port allocation

In live MAVLink mode, each vehicle binds its own UDP socket at base_port + N:

Vehicle	Port (default base 19410)
Vehicle 1	19410
Vehicle 2	19411
Vehicle 3	19412
...	...
Vehicle 16	19425

Change the base port with -udp. All subsequent vehicle ports increment from there.

PX4 SITL instances use the same convention when launched via sitl_multiple_run.sh, so PX4 instance N and Hawkeye vehicle N automatically match up.

Usage examples

Single vehicle, default SIH

hawkeye

Binds to 19410, default quadrotor model.

Fixed-wing in a larger window

hawkeye -fw -w 1920 -h 1080

Five-vehicle swarm on an alternate base port

hawkeye -n 5 -udp 14540

Binds vehicles 1–5 on 14540–14544.

Custom origin

hawkeye -origin 47.641468 -122.140165 0

Sets the NED reference point (Microsoft campus, Redmond, WA). Useful when PX4 SIH is configured to launch from a non-default location.

Replay a single log

hawkeye --replay flight.ulg

Multi-drone replay

hawkeye --replay drone1.ulg drone2.ulg drone3.ulg

Up to 16 files. See ULog Replay for details.

Ghost overlay: compare two flights

hawkeye --ghost before.ulg after.ulg

First file is the primary drone (fully opaque). All other files render at 35% opacity with color tint. Useful for overlaying a baseline flight against a tuning experiment.