diff --git a/haskell/Dockerfile b/haskell/Dockerfile
index 55c4046932..aa63d5e939 100644
--- a/haskell/Dockerfile
+++ b/haskell/Dockerfile
@@ -1,4 +1,4 @@
-FROM debian:stretch-slim
+FROM debian:buster-slim
 
 RUN \
   apt-get update && \
diff --git a/python/data/filter.bin b/python/data/filter.bin
new file mode 100644
index 0000000000..c3258050a1
Binary files /dev/null and b/python/data/filter.bin differ
diff --git a/python/sbp/client/framer.py b/python/sbp/client/framer.py
index 17b976dfe9..5ec8c2ce50 100644
--- a/python/sbp/client/framer.py
+++ b/python/sbp/client/framer.py
@@ -31,14 +31,16 @@ class Framer(six.Iterator):
       Stream of bytes to read from.
     write : port
       Stream of bytes to write to.
-    verbose: boolean
+    verbose : boolean
       Increased verbosity of stdout / stderr. Default False
-    dispatcher: function
+    dispatcher : function
       function to call on each deframed message
-    skip_medata: boolean
+    skip_medata : boolean
       do not add "time" and "session-uuid" metadata
-    sender_id_filter: list
-      list of integer sender_ids to frame, with the exclusion of all others
+    sender_id_filter_list : list
+      list of integer sender_ids to handle, at the exclusion of all others. If the list is empty, will handle all senders.
+    message_type_filter : list
+      list of integer message types to handle, at the exclusion of all others. If the list is empty, will handle all senders.
     """
 
     def __init__(self,
@@ -48,7 +50,8 @@ def __init__(self,
                  dispatcher=dispatch,
                  into_buffer=True,
                  skip_metadata=False,
-                 sender_id_filter_list=[]):
+                 sender_id_filter_list=[],
+                 message_type_filter=[]):
         self._read = read
         self._write = write
         self._verbose = verbose
@@ -59,6 +62,13 @@ def __init__(self,
         self._into_buffer = into_buffer
         self._skip_metadata = skip_metadata
         self._sender_id_filter_list = sender_id_filter_list
+        self._message_type_filter = message_type_filter
+
+    def __enter__(self):
+        return self
+
+    def __exit__(self, *args):
+        self.breakiter()
 
     def __iter__(self):
         self._broken = False
@@ -142,7 +152,8 @@ def _receive(self):
             if self._verbose:
                 print("crc mismatch: 0x%04X 0x%04X" % (msg_crc, crc))
             return None
-        if (len(self._sender_id_filter_list) == 0 or sender in self._sender_id_filter_list):
+        if ((len(self._sender_id_filter_list) == 0 or sender in self._sender_id_filter_list) and
+            (len(self._message_type_filter) == 0 or msg_type in self._message_type_filter)):
             msg = SBP(msg_type, sender, msg_len, data, crc)
             try:
                 msg = self._dispatch(msg)
diff --git a/python/sbp/client/handler.py b/python/sbp/client/handler.py
index da36e91596..a7977b2f5f 100644
--- a/python/sbp/client/handler.py
+++ b/python/sbp/client/handler.py
@@ -64,7 +64,6 @@ def gen_messages():
             for msg, metadata in self._source:
                 if msg.msg_type:
                     yield (msg, metadata)
-
         messages = gen_messages()
         while True:
             msg_and_metadata = None
diff --git a/python/tests/sbp/client/test_handler.py b/python/tests/sbp/client/test_handler.py
index 9678600ecf..cc244e85cf 100644
--- a/python/tests/sbp/client/test_handler.py
+++ b/python/tests/sbp/client/test_handler.py
@@ -16,8 +16,10 @@
 import gc
 
 from sbp.client import Framer, Handler
+from sbp.client.drivers.file_driver import FileDriver
 from sbp.msg import SBP
 from sbp.logging import MsgLog
+from sbp.navigation import SBP_MSG_VEL_NED_GNSS
 
 class CallbackCounter(object):
   """
@@ -56,6 +58,16 @@ def test_framer_ok():
   assert msg.length == 13
   assert msg.crc == 0x4feb
 
+def test_framer_filter():
+  with open("./data/filter.bin", "rb") as fp:
+    with FileDriver(fp) as driver:
+      with Framer(driver.read, driver.write, message_type_filter=[SBP_MSG_VEL_NED_GNSS]) as framer:
+        assert sum(1 for _ in framer) == 160
+  with open("./data/filter.bin", "rb") as fp:
+    with FileDriver(fp) as driver:
+      with Framer(driver.read, driver.write) as framer:
+        assert sum(1 for _ in framer) == 7056
+
 def until(p, limit=1000):
   for i in itertools.count():
     if p():
diff --git a/python/tests/sbp/test_messages.py b/python/tests/sbp/test_messages.py
index 5a0e8470d3..d5ae7b856b 100644
--- a/python/tests/sbp/test_messages.py
+++ b/python/tests/sbp/test_messages.py
@@ -55,6 +55,7 @@ def test_message_case_count():
         missing_messages == EXPECTED_MISSING_MESSAGES
     ), "Missing tests for %d out of %d messages" % (missing_messages, total_messages)
 
+
 @pytest.mark.parametrize("case", CASES)
 def test_message(case):
     assert_package(ROOTPATH + "/" + case)