diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index a990def2c..6ede86094 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -3,9 +3,50 @@ package org.openpilot.uavtalk;
 import java.nio.ByteBuffer;
 import java.util.List;
 import java.util.ListIterator;
+import java.util.Observer;
+import java.util.Observable;
 
 public abstract class UAVObject {
 
+	public class CallbackListener extends Observable {		
+		private UAVObject parent;
+		
+		public CallbackListener(UAVObject parent) {
+			this.parent = parent;
+		}
+
+		public void event () {
+			setChanged();
+			notifyObservers(parent);
+		}
+	}
+	
+	private CallbackListener updatedListeners = new CallbackListener(this);
+	public void addUpdatedObserver(Observer o) {
+		synchronized(updatedListeners) {
+			updatedListeners.addObserver(o);
+		}
+	}
+	void updated() {
+		synchronized(updatedListeners) {
+			updatedListeners.event();
+		}
+	}
+	
+	private CallbackListener unpackedListeners = new CallbackListener(this);
+	public void addUnpackedObserver(Observer o) {
+		synchronized(unpackedListeners) {
+			unpackedListeners.addObserver(o);
+		}
+	}
+	void unpacked() {
+		synchronized(unpackedListeners) {
+			System.out.println("Unpacked!: " + unpackedListeners.countObservers() + " " + getName());
+			unpackedListeners.event();
+		}
+	}
+
+	
 	/**
 	 * Object update mode
 	 */
@@ -298,10 +339,12 @@ public abstract class UAVObject {
 			UAVObjectField field = li.next();
 			numBytes += field.unpack(dataIn);
 		}
+		
+		// Trigger all the listeners for the unpack event
+		unpacked();
+		updated();
+		
 		return numBytes;
-		// TODO: Callbacks
-		// emit objectUnpacked(this); // trigger object updated event
-		// emit objectUpdated(this);
 	}
 
 	// /**
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index 0b72c33c8..21444a04b 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -91,8 +91,7 @@ public class UAVObjectField {
      * @param dataOut
      * @return the number of bytes added
      **/
-    public int pack(ByteBuffer dataOut) {
-        //QMutexLocker locker(obj->getMutex());
+    public synchronized int pack(ByteBuffer dataOut) {
         // Pack each element in output buffer
     	dataOut.order(ByteOrder.LITTLE_ENDIAN);
         switch (type)
@@ -153,7 +152,7 @@ public class UAVObjectField {
         return getNumBytes();    	
     }
     
-    public int unpack(ByteBuffer dataIn) {
+    public synchronized int unpack(ByteBuffer dataIn) {
         // Unpack each element from input buffer
     	dataIn.order(ByteOrder.LITTLE_ENDIAN);
         switch (type)
@@ -240,10 +239,9 @@ public class UAVObjectField {
         return getNumBytes();    	
     }
     
-    Object getValue()  { return getValue(0); };
+    public Object getValue()  { return getValue(0); };
     @SuppressWarnings("unchecked")
-	Object getValue(int index)  {
-//        QMutexLocker locker(obj->getMutex());
+	public synchronized Object getValue(int index)  {
         // Check that index is not out of bounds
         if ( index >= numElements )
         {
@@ -287,8 +285,7 @@ public class UAVObjectField {
     
     public void setValue(Object data) { setValue(data,0); }    
     @SuppressWarnings("unchecked")
-	public void setValue(Object data, int index) {
-    	//    	   QMutexLocker locker(obj->getMutex());
+	public synchronized void setValue(Object data, int index) {
     	// Check that index is not out of bounds
     	//if ( index >= numElements );
     		//throw new Exception("Index out of bounds");
@@ -361,6 +358,7 @@ public class UAVObjectField {
     			//throw new Exception("Sorry I haven't implemented strings yet");
     		}
     		}
+    		obj.updated();
     	}
     }
     
@@ -449,7 +447,7 @@ public class UAVObjectField {
     }
 
     @SuppressWarnings("unchecked")
-	public void clear() {
+	public synchronized void clear() {
     	switch (type)
         {
             case INT8:
@@ -503,7 +501,7 @@ public class UAVObjectField {
         }
     }
     
-    public void constructorInitialize(String name, String units, FieldType type, List<String> elementNames, List<String> options) {
+    public synchronized void constructorInitialize(String name, String units, FieldType type, List<String> elementNames, List<String> options) {
         // Copy params
         this.name = name;
         this.units = units;
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
index 2e531fc85..74ddb95fb 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
@@ -23,7 +23,7 @@ public class UAVObjectManager {
 	 * updates.
 	 * @throws Exception 
 	 */
-	public boolean registerObject(UAVDataObject obj) throws Exception
+	public synchronized boolean registerObject(UAVDataObject obj) throws Exception
 	{
 		//  QMutexLocker locker(mutex);
 
@@ -128,7 +128,7 @@ public class UAVObjectManager {
 		return true;
 	}
 
-	public void addObject(UAVObject obj)
+	public synchronized void addObject(UAVObject obj)
 	{
 		// Add to list
 		List<UAVObject> ls = new ArrayList<UAVObject>();
@@ -143,15 +143,15 @@ public class UAVObjectManager {
 	 */
 	public List<List<UAVObject>> getObjects()
 	{
-		//QMutexLocker locker(mutex);
 		return objects;
 	}
 
 	/**
 	 * Same as getObjects() but will only return DataObjects.
 	 */
-	public List< List<UAVDataObject> > getDataObjects()
+	public  List< List<UAVDataObject> > getDataObjects()
 	{
+		assert(false); // TOOD This
 		return new ArrayList<List<UAVDataObject>>();
 
 		/*		QMutexLocker locker(mutex);
@@ -190,6 +190,7 @@ public class UAVObjectManager {
 	 */
 	public List <List<UAVMetaObject> > getMetaObjects()
 	{
+		assert(false); // TODO		
 		return new ArrayList< List<UAVMetaObject> >();
 		/*
 		QMutexLocker locker(mutex);
@@ -267,7 +268,7 @@ public class UAVObjectManager {
 	/**
 	 * Helper function for the public getObject() functions.
 	 */
-	public UAVObject getObject(String name, int objId, int instId)
+	public synchronized UAVObject getObject(String name, int objId, int instId)
 	{
 		//QMutexLocker locker(mutex);
 		// Check if this object type is already in the list
@@ -310,9 +311,8 @@ public class UAVObjectManager {
 	/**
 	 * Helper function for the public getObjectInstances()
 	 */
-	public List<UAVObject> getObjectInstances(String name, int objId)
+	public synchronized List<UAVObject> getObjectInstances(String name, int objId)
 	{
-		//QMutexLocker locker(mutex);
 		// Check if this object type is already in the list
 		ListIterator<List<UAVObject>> objIter = objects.listIterator();
 		while(objIter.hasNext()) {
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 07b061bc9..7ea9c7c60 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -10,6 +10,22 @@ import java.nio.ByteOrder;
 
 public class UAVTalk {
 
+	private Thread inputProcessingThread = null;
+	/**
+	 * A reference to the thread for processing the incoming stream
+	 * @return
+	 */
+	public Thread getInputProcessThread() {
+		if(inputProcessingThread == null)
+
+			inputProcessingThread = new Thread() {
+			public void run() {
+				processInputStream();
+			}
+		};
+		return inputProcessingThread;
+	}
+	
 	/**
 	 * Constants
 	 */
@@ -684,7 +700,7 @@ public class UAVTalk {
 	 * \param[in] type Transaction type
 	 * \return Success (true), Failure (false)
 	 */
-	public boolean transmitSingleObject(UAVObject obj, int type, boolean allInstances)
+	public synchronized boolean transmitSingleObject(UAVObject obj, int type, boolean allInstances)
 	{
 		int length;
 		int dataOffset;
diff --git a/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java b/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
index 6dc23530e..252927122 100644
--- a/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
+++ b/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
@@ -9,6 +9,8 @@ import java.net.DatagramSocket;
 import java.net.InetAddress;
 import java.net.Socket;
 import java.nio.ByteBuffer;
+import java.util.Observable;
+import java.util.Observer;
 
 import org.junit.BeforeClass;
 import org.junit.Test;
@@ -20,8 +22,9 @@ public class TalkTest {
 
 	static UAVObjectManager objMngr;
 	static final String IP_ADDRDESS = new String("127.0.0.1");
-	static final int PORT_NUM = 8000;
-	
+	static final int PORT_NUM = 7777;
+	boolean succeed = false;
+
 	@BeforeClass
 	public static void setUpBeforeClass() throws Exception {
 		objMngr = new UAVObjectManager();
@@ -29,7 +32,7 @@ public class TalkTest {
 	}
 
 	@Test
-	public void testProcessInputStream() {
+	public void testGetFlightStatus() {
 		Socket connection = null;
 		UAVTalk talk = null;
 		try{
@@ -48,7 +51,29 @@ public class TalkTest {
 			fail("Couldn't construct UAVTalk object");
 		}
 		
-		talk.processInputStream();
+		Thread inputStream = talk.getInputProcessThread();
+		inputStream.start();
+
+		succeed = false;
+		
+		UAVObject obj = objMngr.getObject("FlightTelemetryStats");
+
+		obj.addUpdatedObserver( new Observer() {
+			public void update(Observable observable, Object data) {
+				// TODO Auto-generated method stub
+				System.out.println("Updated: " + data.toString());
+				succeed = true;
+			}
+		});
+		
+		try {
+			Thread.sleep(1000);
+		} catch (InterruptedException e1) {
+		}
+		
+		if(!succeed)
+			fail("Never received a FlightTelemetryStats update");
+
 	}
 
 	@Test