I am having the same issue as many other users are where both my own characters and those of my friends are displaying as silhouettes on the Destiny companion app. I've seen multiple posts about this from other users dating back to the Beta launch, and the problem has apparently not yet been fixed. I am on a Samsung Galaxy Note II (Android). The options within the app are set correctly. My phone has never seemed to have a problem rendering other 3D images. Please advise if this will be fixed soon.
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Also, can you fix it so that you can view your legend on every phone? I don't have the option to select legend from the menu, but on other phones I do, and yes I'm signed it.