diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index f697bc43a..f11682869 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -26,7 +26,7 @@
 
         <!-- Object browser - main activity at the moment -->
         <activity
-            android:name="org.openpilot.osg.osgViewer"
+            android:name="org.openpilot.androidgcs.HomePage"
             android:label="@string/app_name" >
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />
@@ -42,6 +42,7 @@
             <!-- <meta-data android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED" -->
             <!-- android:resource="@xml/device_filter" /> -->
         </activity>
+        
         <activity
             android:name="ObjectBrowser"
             android:label="@string/object_browser_name" />
@@ -68,7 +69,10 @@
             android:name="Logger"
             android:label="Logger"
             android:theme="@android:style/Theme.Dialog" />
-
+        <activity
+            android:name="OsgViewer"
+            android:label="3DView" />
+        
         <receiver android:name="TelemetryWidget" >
             <intent-filter>
                 <action android:name="android.appwidget.action.APPWIDGET_UPDATE" />
diff --git a/androidgcs/jni/OsgMainApp.cpp b/androidgcs/jni/OsgMainApp.cpp
index 681af1d7e..e1fb363b8 100644
--- a/androidgcs/jni/OsgMainApp.cpp
+++ b/androidgcs/jni/OsgMainApp.cpp
@@ -1,5 +1,5 @@
 #include "OsgMainApp.hpp"
-
+#include <osg/Quat>
 
 OsgMainApp::OsgMainApp(){
 
@@ -41,7 +41,17 @@ void OsgMainApp::loadModels(){
 
             loadedModel->getOrCreateStateSet()->setAttribute ( prog );
 
-            _root->addChild(loadedModel);
+            // Woohoo leaky code.  This no longer works for multiple models
+            uavAttitudeAndScale = new osg::MatrixTransform();
+            uavAttitudeAndScale->setMatrix(osg::Matrixd::scale(0.2e0,0.2e0,0.2e0));
+
+            osg::MatrixTransform *rotateModelNED = new osg::MatrixTransform();
+            rotateModelNED->setMatrix(osg::Matrixd::scale(0.05e0,0.05e0,0.05e0) * osg::Matrixd::rotate(M_PI, osg::Vec3d(0,0,1)));
+            rotateModelNED->addChild( loadedModel );
+
+            uavAttitudeAndScale->addChild( rotateModelNED );
+
+            _root->addChild(uavAttitudeAndScale);
         }
     }
 
@@ -216,5 +226,15 @@ osg::Vec4f OsgMainApp::getClearColor(){
     return _viewer->getCamera()->getClearColor();
 }
 
-void OsgMainApp::setRPY(float x, float y, float z){
+void OsgMainApp::setQuat(float *q){
+    osg::Quat quat(q[1], q[2], q[3], q[0]);
+
+    // Have to rotate the axes from OP NED frame to OSG frame (X east, Y north, Z down)
+    double angle;
+    osg::Vec3d axis;
+    quat.getRotate(angle,axis);
+    quat.makeRotate(angle, osg::Vec3d(axis[1],axis[0],-axis[2]));
+    osg::Matrixd rot = osg::Matrixd::rotate(quat);
+
+    uavAttitudeAndScale->setMatrix(rot);
 }
diff --git a/androidgcs/jni/OsgMainApp.hpp b/androidgcs/jni/OsgMainApp.hpp
index fbb6ee58c..a1a974659 100644
--- a/androidgcs/jni/OsgMainApp.hpp
+++ b/androidgcs/jni/OsgMainApp.hpp
@@ -23,6 +23,7 @@
 #include <osg/Depth>
 #include <osg/Program>
 #include <osg/Shader>
+#include <osg/MatrixTransform>
 #include <osg/Node>
 #include <osg/Notify>
 //osgText
@@ -178,7 +179,8 @@ public:
     osg::Vec4f getClearColor();
 
     //Manipulating the view
-    void setRPY(float x, float y, float z);
+    void setQuat(float *q);
+    osg::MatrixTransform *uavAttitudeAndScale;
 };
 
 
diff --git a/androidgcs/jni/osgNativeLib.cpp b/androidgcs/jni/osgNativeLib.cpp
index 734e80bd5..2cc115491 100644
--- a/androidgcs/jni/osgNativeLib.cpp
+++ b/androidgcs/jni/osgNativeLib.cpp
@@ -22,7 +22,7 @@ extern "C" {
     JNIEXPORT void JNICALL Java_org_openpilot_osg_osgNativeLib_loadObject(JNIEnv * env, jobject obj, jstring address);
     JNIEXPORT void JNICALL Java_org_openpilot_osg_osgNativeLib_unLoadObject(JNIEnv * env, jobject obj, jint number);
     JNIEXPORT jobjectArray JNICALL Java_org_openpilot_osg_osgNativeLib_getObjectNames(JNIEnv * env, jobject obj);
-    JNIEXPORT void JNICALL Java_org_openpilot_osg_osgNativeLib_setRPY(JNIEnv * env, jobject obj, jfloat roll, jfloat pitch, jfloat yaw);
+    JNIEXPORT void JNICALL Java_org_openpilot_osg_osgNativeLib_setRPY(JNIEnv * env, jobject obj, jfloat q1, jfloat q2, jfloat q3, jfloat q4);
 };
 
 JNIEXPORT void JNICALL Java_org_openpilot_osg_osgNativeLib_init(JNIEnv * env, jobject obj, jint width, jint height){
@@ -113,6 +113,7 @@ JNIEXPORT jobjectArray JNICALL Java_org_openpilot_osg_osgNativeLib_getObjectName
     return fileNames;
 }
 
-JNIEXPORT void JNICALL Java_org_openpilot_osg_osgNativeLib_setRPY(JNIEnv * env, jobject obj, jfloat roll, jfloat pitch, jfloat yaw){
-	mainApp.setRPY(roll,pitch,yaw);
+JNIEXPORT void JNICALL Java_org_openpilot_osg_osgNativeLib_setRPY(JNIEnv * env, jobject obj, jfloat q1, jfloat q2, jfloat q3, jfloat q4){
+	float q[4] = {q1, q2, q3, q4};
+	mainApp.setQuat(q);
 }
diff --git a/androidgcs/res/layout/gcs_home.xml b/androidgcs/res/layout/gcs_home.xml
index 82f638b98..1c0e24c35 100644
--- a/androidgcs/res/layout/gcs_home.xml
+++ b/androidgcs/res/layout/gcs_home.xml
@@ -77,6 +77,18 @@
         android:drawableTop="@drawable/ic_alarms"
         android:text="@string/alarms" />
     
+        <Button
+        android:id="@+id/launch_osgViewer"
+        android:layout_width="132dp"
+        android:layout_height="wrap_content"
+        android:layout_column="1"
+        android:layout_gravity="right"
+        android:layout_row="6"
+        android:layout_rowSpan="2"
+        android:background="@android:color/transparent"
+        android:drawableTop="@drawable/ic_alarms"
+        android:text="@string/_3dview" />
+    
     <Space
         android:layout_width="1dp"
         android:layout_height="32dp"
diff --git a/androidgcs/res/values/strings.xml b/androidgcs/res/values/strings.xml
index 18de8b766..a761b79a1 100644
--- a/androidgcs/res/values/strings.xml
+++ b/androidgcs/res/values/strings.xml
@@ -32,4 +32,5 @@
 	<string name="alarms">Alarms</string>
 	<string name="txrate">TxRate: </string>
 	<string name="rxrate">RxRate: </string>
+	<string name="_3dview">3DView</string>
 </resources>
diff --git a/androidgcs/src/org/openpilot/androidgcs/HomePage.java b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
index 12833df2f..ed6007ab2 100644
--- a/androidgcs/src/org/openpilot/androidgcs/HomePage.java
+++ b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
@@ -83,6 +83,15 @@ public class HomePage extends ObjectManagerActivity {
 				startActivity(new Intent(HomePage.this, SystemAlarmActivity.class));
 			}
 		});
+
+		Button osgViewer = (Button) findViewById(R.id.launch_osgViewer);
+		osgViewer.setOnClickListener(new OnClickListener() {
+			@Override
+			public void onClick(View arg0) {
+				startActivity(new Intent(HomePage.this, OsgViewer.class));
+			}
+		});
+
 	}
 
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
index 8cd89e8d8..014b94331 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -83,7 +83,7 @@ public abstract class ObjectManagerActivity extends Activity {
 	private HashMap<Observer, UAVObject> listeners;
 	/** Called when the activity is first created. */
 	@Override
-	public void onCreate(Bundle savedInstanceState) {
+	protected void onCreate(Bundle savedInstanceState) {
 		super.onCreate(savedInstanceState);
 	}
 
diff --git a/androidgcs/src/org/openpilot/osg/osgViewer.java b/androidgcs/src/org/openpilot/androidgcs/OsgViewer.java
similarity index 97%
rename from androidgcs/src/org/openpilot/osg/osgViewer.java
rename to androidgcs/src/org/openpilot/androidgcs/OsgViewer.java
index 5246209be..4aaa6a6a0 100644
--- a/androidgcs/src/org/openpilot/osg/osgViewer.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OsgViewer.java
@@ -1,8 +1,9 @@
-package org.openpilot.osg;
+package org.openpilot.androidgcs;
 
-import org.openpilot.androidgcs.R;
+import org.openpilot.osg.ColorPickerDialog;
+import org.openpilot.osg.EGLview;
+import org.openpilot.osg.osgNativeLib;
 
-import android.app.Activity;
 import android.app.AlertDialog;
 import android.graphics.Color;
 import android.graphics.PointF;
@@ -20,7 +21,7 @@ import android.widget.Button;
 import android.widget.ImageButton;
 import android.widget.Toast;
 
-public class osgViewer extends Activity implements View.OnTouchListener, View.OnKeyListener, ColorPickerDialog.OnColorChangeListener {
+public class OsgViewer extends ObjectManagerActivity implements View.OnTouchListener, View.OnKeyListener, ColorPickerDialog.OnColorChangeListener {
 	enum moveTypes { NONE , DRAG, MDRAG, ZOOM ,ACTUALIZE}
 	enum navType { PRINCIPAL , SECONDARY }
 	enum lightType { ON , OFF }