diff --git a/dronekit/__init__.py b/dronekit/__init__.py
index 7d98364f4..97113e020 100644
--- a/dronekit/__init__.py
+++ b/dronekit/__init__.py
@@ -49,7 +49,11 @@
 import collections
 from pymavlink.dialects.v10 import ardupilotmega
 
-
+try:
+    basestring     # Python 2
+except NameError:  # Python 3
+    basestring = (str, bytes)
+            
 class APIException(Exception):
     """
     Base class for DroneKit related exceptions.
@@ -87,7 +91,8 @@ def __init__(self, pitch, yaw, roll):
         self.roll = roll
 
     def __str__(self):
-        return "Attitude:pitch=%s,yaw=%s,roll=%s" % (self.pitch, self.yaw, self.roll)
+        fmt = '{}:pitch={pitch},yaw={yaw},roll={roll}'
+        return fmt.format(self.__class__.__name__, **vars(self))
 
 
 class LocationGlobal(object):
@@ -2822,7 +2827,7 @@ def connect(ip,
 
         @vehicle.on_message('STATUSTEXT')
         def listener(self, name, m):
-            status_printer(re.sub(r'(^|\n)', '>>> ', m.text.rstrip()))
+            status_printer(re.sub(r'(^|\n)', '>>> ', m.text.decode('utf-8').rstrip()))
 
     if _initialize:
         vehicle.initialize(rate=rate, heartbeat_timeout=heartbeat_timeout)