Coordinate Systems
PX4 and MAVLink use the NED (North-East-Down) coordinate convention. Raylib uses Y-up, right-handed. Hawkeye converts between them at the draw layer.
NED (input)
| Axis | Direction |
|---|---|
| X | North |
| Y | East |
| Z | Down (positive below origin) |
Raylib Y-up (rendering)
| Axis | Direction |
|---|---|
| X | Right |
| Y | Up |
| Z | Back (toward the camera) |
What this means for users
- Heading is displayed as 0° = North, 0–360° clockwise (compass convention). This matches navigation convention and what you'd expect from a PX4 HUD.
- Yaw (toggled with
Y) is displayed as ±180°, 0 = forward axis of the vehicle, counter-clockwise positive (math convention). - Altitude shown in the HUD is positive up, in meters above origin. The underlying log stores it as NED Z (negative below origin); the HUD flips the sign for intuitive display.
- Origin altitude is typically the launch point elevation, not Mean Sea Level (MSL).
Debug panel coordinates
The X/Y/Z values shown in the debug overlay (Ctrl+D) are in Raylib's Y-up draw-space coordinates, not NED. This is mostly what you want for understanding the rendered scene, but be aware that the Y value is the altitude, not the "forward distance" you might expect from an NED-convention tool.