diff --git a/androidgcs/res/layout/object_browser.xml b/androidgcs/res/layout/object_browser.xml
index 9c7456915..67dc0af76 100644
--- a/androidgcs/res/layout/object_browser.xml
+++ b/androidgcs/res/layout/object_browser.xml
@@ -2,6 +2,56 @@
 <RelativeLayout   xmlns:android="http://schemas.android.com/apk/res/android"
   android:layout_width="match_parent"
   android:layout_height="match_parent">
-    <Spinner android:layout_alignParentTop="true" android:layout_height="wrap_content" android:layout_width="match_parent" android:id="@+id/object_list_filter"></Spinner>
-    <ListView android:id="@+id/object_list" android:layout_height="wrap_content" android:layout_width="match_parent" android:layout_below="@+id/spinner1" android:layout_alignLeft="@+id/spinner1" android:layout_alignRight="@+id/spinner1"></ListView>
+
+    <LinearLayout
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_alignParentLeft="true"
+        android:layout_alignParentTop="true"
+        android:layout_marginLeft="5dp"
+        android:orientation="vertical" >
+
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content" >
+
+            <CheckBox
+                android:id="@+id/settingsCheck"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:checked="true"
+                android:text="Settings" />
+
+            <CheckBox
+                android:id="@+id/dataCheck"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:checked="true"
+                android:text="Data" />
+
+        </LinearLayout>
+
+        <LinearLayout
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content" >
+
+            <ListView
+                android:id="@+id/object_list"
+                android:layout_width="200dp"
+                android:layout_height="wrap_content"
+                android:layout_weight="1" >
+            </ListView>
+
+            <TextView
+                android:id="@+id/object_information"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_weight="1"
+                android:text=""
+                android:textAppearance="?android:attr/textAppearanceMedium" />
+
+        </LinearLayout>
+
+    </LinearLayout>
+
 </RelativeLayout>
diff --git a/androidgcs/res/layout/pfd.xml b/androidgcs/res/layout/pfd.xml
index 191a80eb9..5291f2724 100644
--- a/androidgcs/res/layout/pfd.xml
+++ b/androidgcs/res/layout/pfd.xml
@@ -1,8 +1,30 @@
 <?xml version="1.0" encoding="utf-8"?>
-<LinearLayout
-  xmlns:android="http://schemas.android.com/apk/res/android"
-  android:layout_width="match_parent"
-  android:layout_height="match_parent">
-    <org.openpilot.androidgcs.CompassView android:id="@+id/compass_view" android:layout_height="wrap_content" android:layout_width="wrap_content"></org.openpilot.androidgcs.CompassView>
-    <org.openpilot.androidgcs.AttitudeView android:id="@+id/attitude_view" android:layout_height="fill_parent" android:layout_width="fill_parent"></org.openpilot.androidgcs.AttitudeView>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:orientation="vertical" >
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content" >
+
+        <org.openpilot.androidgcs.CompassView
+            android:id="@+id/compass_view"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content" />
+
+        <org.openpilot.androidgcs.AttitudeView
+            android:id="@+id/attitude_view"
+            android:layout_width="fill_parent"
+            android:layout_height="fill_parent" />
+
+    </LinearLayout>
+
+    <com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView
+        android:id="@+id/dualjoystickView"
+        android:layout_width="fill_parent"
+        android:layout_height="175dip"
+        android:layout_marginTop="5dip" >
+    </com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView>
+
 </LinearLayout>
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
index a6ed177a2..1a7495ada 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
@@ -16,8 +16,12 @@ import android.util.Log;
 import android.view.View;
 import android.widget.AdapterView;
 import android.widget.ArrayAdapter;
+import android.widget.CheckBox;
+import android.widget.CompoundButton;
+import android.widget.CompoundButton.OnCheckedChangeListener;
 import android.widget.ListView;
 import android.widget.Spinner;
+import android.widget.TextView;
 import android.widget.Toast;
 import android.widget.AdapterView.OnItemClickListener;
 
@@ -27,6 +31,7 @@ import org.openpilot.uavtalk.UAVObject;
 public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPreferenceChangeListener {
 
 	private final String TAG = "ObjectBrower";
+	int selected_index = -1;
 	boolean connected;
 	SharedPreferences prefs;
 	ArrayAdapter<UAVDataObject> adapter;
@@ -35,10 +40,15 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 	final Handler uavobjHandler = new Handler(); 
 	final Runnable updateText = new Runnable() {
 		public void run() {
-			Log.d(TAG,"Update");
-			update();
+			updateObject();
 		}
 	};
+	
+	private final Observer updatedObserver = new Observer() {
+		public void update(Observable observable, Object data) {
+			uavobjHandler.post(updateText);
+		}				
+	};
 
 	/** Called when the activity is first created. */
 	@Override
@@ -47,20 +57,48 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 		setContentView(R.layout.object_browser);		
 		prefs = PreferenceManager.getDefaultSharedPreferences(this);
 		prefs.registerOnSharedPreferenceChangeListener(this);
-		
-		Spinner objectFilter = (Spinner) findViewById(R.id.object_list_filter);
 	}
 
 	@Override
 	void onOPConnected() {
 		Toast.makeText(this,"Telemetry estabilished",Toast.LENGTH_SHORT);
 		Log.d(TAG, "onOPConnected()");
+		
+		OnCheckedChangeListener checkListener = new OnCheckedChangeListener() {
+			@Override
+			public void onCheckedChanged(CompoundButton buttonView,
+					boolean isChecked) {
+				updateList();
+			}
+		};
+		
+		((CheckBox) findViewById(R.id.dataCheck)).setOnCheckedChangeListener(checkListener);
+		((CheckBox) findViewById(R.id.settingsCheck)).setOnCheckedChangeListener(checkListener);
+		
+		updateList();
+	}
+
+	/**
+	 * Populate the list of UAVO objects based on the selected filter
+	 */
+	private void updateList() {
+		// Disconnect any previous signals
+		if (selected_index > 0)
+			allObjects.get(selected_index).removeUpdatedObserver(updatedObserver);
+		selected_index = -1;
+
+		boolean includeData = ((CheckBox) findViewById(R.id.dataCheck)).isChecked();
+		boolean includeSettings = ((CheckBox) findViewById(R.id.settingsCheck)).isChecked();
 
 		List<List<UAVDataObject>> allobjects = objMngr.getDataObjects();
 		allObjects = new ArrayList<UAVDataObject>();
 		ListIterator<List<UAVDataObject>> li = allobjects.listIterator();
 		while(li.hasNext()) {
-			allObjects.addAll(li.next());
+			List<UAVDataObject> objects = li.next();
+			if(includeSettings && objects.get(0).isSettings())
+				allObjects.addAll(objects);
+			else if (includeData && !objects.get(0).isSettings())
+				allObjects.addAll(objects);
 		}
 
 		adapter = new ArrayAdapter<UAVDataObject>(this,R.layout.object_view, allObjects);
@@ -70,29 +108,25 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 		objects.setOnItemClickListener(new OnItemClickListener() {
 			public void onItemClick(AdapterView<?> parent, View view,
 					int position, long id) {
-			      /*Toast.makeText(getApplicationContext(), ((TextView) view).getText(),
-			              Toast.LENGTH_SHORT).show();*/
-				Intent intent = new Intent(ObjectBrowser.this, ObjectEditor.class);
-				intent.putExtra("org.openpilot.androidgcs.ObjectName", allObjects.get(position).getName());
-				intent.putExtra("org.openpilot.androidgcs.ObjectId", allObjects.get(position).getObjID());
-				intent.putExtra("org.openpilot.androidgcs.InstId", allObjects.get(position).getInstID());
-				startActivity(intent);
+
+				if (selected_index > 0)
+					allObjects.get(selected_index).removeUpdatedObserver(updatedObserver);
+
+				selected_index = position;
+				allObjects.get(position).addUpdatedObserver(updatedObserver);
+				updateObject();
 			}
 		});
-
-
-		UAVObject obj = objMngr.getObject("SystemStats");
-		if(obj != null)
-			obj.addUpdatedObserver(new Observer() {
-				public void update(Observable observable, Object data) {
-					uavobjHandler.post(updateText);
-				}				
-			});
-
+		
 	}
-
-	public void update() {
-		adapter.notifyDataSetChanged();
+	
+	private void updateObject() {
+		//adapter.notifyDataSetChanged();
+		TextView text = (TextView) findViewById(R.id.object_information);
+		if (selected_index >= 0 && selected_index < allObjects.size())
+			text.setText(allObjects.get(selected_index).toStringData());
+		else
+			Log.d(TAG,"Update called but invalid index: " + selected_index);
 	}
 
 	public void onSharedPreferenceChanged(SharedPreferences sharedPreferences,
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index 28c279040..087d2b808 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -52,6 +52,11 @@ public abstract class UAVObject {
 	}
 	
 	private CallbackListener updatedListeners = new CallbackListener(this);
+	public void removeUpdatedObserver(Observer o) {
+		synchronized(updatedListeners) {
+			updatedListeners.deleteObserver(o);
+		}
+	}
 	public void addUpdatedObserver(Observer o) {
 		synchronized(updatedListeners) {
 			updatedListeners.addObserver(o);
@@ -730,14 +735,14 @@ public abstract class UAVObject {
 	 */
 	@Override
 	public String toString() {
-		return toStringBrief() + toStringData();
+		return toStringBrief(); // + toStringData();
 	}
 
 	/**
 	 * Return a string with the object information (only the header)
 	 */
 	public String toStringBrief() {
-		return getName() + " (" + Integer.toHexString(getObjID()) + " " + Integer.toHexString(getInstID()) + " " + getNumBytes() + ")\n";
+		return getName(); // + " (" + Integer.toHexString(getObjID()) + " " + Integer.toHexString(getInstID()) + " " + getNumBytes() + ")\n";
 	}
 
 	/**
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index 3ed221079..af707d3a0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -469,7 +469,11 @@ public class UAVObjectField {
     
 	public String toString() {
         String sout = new String();
-        sout += name + ": " + data.toString() + " (" + units + ")\n";
+    	sout += name + ": " + getValue().toString();
+    	if (units.length() > 0) 
+    		sout += " (" + units + ")\n";
+    	else
+    		sout += "\n";
         return sout;    	
     }