Go to a area that is safe from combat (Not in combat or in a room) and pause and go to the map screen. Now hit the X button to jump back to the Ebon Hawk and be healed. Select Map again and hit X again to go back to where you where.
Party Member Locations:
Bastila – Jedi Human – Taris
Canderous – Mandalorian Soldier – Taris
Carth – Human Soldier – Endar Spire
HK-47 – Combat Droid – Tatooine (buy him in the droid shop)
Jolee Bindo – Jedi Human – Kashyyyk
Juhani – Jedi Guardian – Dantooine (don