There’s a new disassembler that looks like it has nice output:

PLASMA is an interactive disassembler. It can generate a more readable assembly (pseudo code) with colored syntax. You can write scripts with the available Python api. It supports :
*  architectures : x86, ARM, MIPS{64} (partially)
 *  formats : ELF, PE, RAW

https://github.com/joelpx/plasma